Gianluca Corsini — accepted AI-conference papers

2022

Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case

Gianluca Corsini, Martin Jacquet, Hemjyoti Das, Amr Afifi, Daniel Sidobre, Antonio Franchi

IROS 2022poster

In this article, we consider the problem of delivering an object to a human coworker by means of an aerial robot (AR). To this aim, we present an ergonomics-aware Nonlinear Model Predictive Control (NMPC) designed to autonomously perform the handover. The method is general enough to be applied to an…

Cited by 18 Source ↗Scholar ↗

2020

Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVS

Martin Jacquet, Gianluca Corsini, Davide Bicego, Antonio Franchi

ICRA 2020poster

In this paper, we present a Perception-constrained Nonlinear Model Predictive Control (NMPC) framework for the real-time control of multi-rotor aerial vehicles. Our formulation considers both constraints from a perceptive sensor and realistic actuator limitations that are the rotor minimum and maxim…

Cited by 22 Source ↗Scholar ↗