AIConfPaper
← Search

Eugenio Cuniato

6 accepted papers

2026

How to Shake Trees with Aerial Manipulators? a Theoretical and Experimental Study

Antonio Gonzalez-Morgado, Eugenio Cuniato, Guillermo Heredia, Anibal Ollero, Roland Siegwart, Marco Tognon
ICRA 2026poster

Aerial manipulators are advancing beyond traditional inspection roles to enable complex interactions with flexible structures. Applications such as structural health monitoring, and especially agricultural tasks like fruit harvesting or environmental monitoring, require inducing controlled vibration…

Cited by 0Source ↗Scholar ↗
2025

How to Shake Trees With Aerial Manipulators? A Theoretical and Experimental Study

Antonio González-Morgado, Eugenio Cuniato, Guillermo Heredia, Aníbal Ollero, Roland Siegwart, Marco Tognon
RA-L 2025

Aerial manipulators are advancing beyond traditional inspection roles to enable complex interactions with flexible structures. Applications such as structural health monitoring, and especially agricultural tasks like fruit harvesting or environmental monitoring, require inducing controlled vibration

Cited by 0Source ↗Scholar ↗
2024

Passive Aligning Physical Interaction of Fully-Actuated Aerial Vehicles for Pushing Tasks

Tong Hui, Eugenio Cuniato, Michael Pantic, Marco Tognon, Matteo Fumagalli, Roland Siegwart
ICRA 2024poster

Recently, the utilization of aerial manipulators for performing pushing tasks in non-destructive testing (NDT) applications has seen significant growth. Such operations entail physical interactions between the aerial robotic system and the environment. End-effectors with multiple contact points are…

Cited by 6Source ↗Scholar ↗
2023

Design and Control of a Micro Overactuated Aerial Robot with an Origami Delta Manipulator

Eugenio Cuniato, Christian Geckeler, Maximilian Brunner, Dario Strübin, Elia Bähler, Fabian Ospelt +3
ICRA 2023poster

This work presents the mechanical design and control of a novel small-size and lightweight Micro Aerial Vehicle (MAV) for aerial manipulation. To our knowledge, with a total take-off mass of only 2.0 kg, the proposed system is the most lightweight Aerial Manipulator (AM) that has 8-DOF independently…

Cited by 8Source ↗Scholar ↗
2023

Learning to Open Doors with an Aerial Manipulator

Eugenio Cuniato, Ismail Geles, Weixuan Zhang, Olov Andersson, Marco Tognon, Roland Siegwart
IROS 2023poster

The field of aerial manipulation has seen rapid advances, transitioning from push-and-slide tasks to interaction with articulated objects. The motion trajectory of these complex actions is usually hand-crafted or a result of online optimization methods like Model Predictive Control (MPC) or Model Pr…

Cited by 4Source ↗Scholar ↗
2022

Power-Based Safety Layer for Aerial Vehicles in Physical Interaction Using Lyapunov Exponents

Eugenio Cuniato, Nicholas R. J. Lawrance, Marco Tognon, Roland Siegwart
RA-L 2022

As the performance of autonomous systems increases, safety concerns arise, especially when operating in non-structured environments. To deal with these concerns, this work presents a safety layer for mechanical systems that detects and responds to unstable dynamics caused by external disturbances. T

Cited by 22Source ↗Scholar ↗