Eric Dyer — accepted AI-conference papers

2019

Energy Optimal Control Allocation in a Redundantly Actuated Omnidirectional UAV

Eric Dyer, Shahin Sirouspour, Mohammad Jafarinasab

ICRA 2019poster

This paper presents a novel actuation model and control allocation strategy for a redundantly-actuated multirotor unmanned aerial vehicle (UAV), referred to as the omnicopter. With an unconventional configuration, the omnicopter's eight propellers are able to produce all the six components of net fo…

Cited by 34 Source ↗Scholar ↗

2018

Decentralized Motion Control in a Cabled-based Multi-drone Load Transport System

Keyvan Mohammadi, Mohammad Jafarinasab, Shahin Sirouspour, Eric Dyer

IROS 2018poster

A provably stable decentralized control scheme is proposed to allow multiple conventional quadcopters carry a cable-suspended payload. The method exploits a fundamental energetic passivity property of the combined drones, cables, and payload system to stably move the payload from its origin to desti…

Cited by 21 Source ↗Scholar ↗