Giuseppe Muscio — accepted AI-conference papers

2017

6D physical interaction with a fully actuated aerial robot

Markus Ryll, Giuseppe Muscio, Francesco Pierri, Elisabetta Cataldi, Gianluca Antonelli, Fabrizio Caccavale +1

ICRA 2017poster

This paper presents the design, control, and experimental validation of a novel fully-actuated aerial robot for physically interactive tasks, named Tilt-Hex. We show how the Tilt-Hex, a tilted-propeller hexarotor is able to control the full pose (position and orientation independently) using a geome…

Cited by 214 Source ↗Scholar ↗

2017

Distributed cooperative object parameter estimation and manipulation without explicit communication

Alessandro Marino, Giuseppe Muscio, Francesco Pierri

ICRA 2017poster

The paper presents a two stages distributed algorithm for cooperative manipulating an unknown object rigidly grasped by mobile manipulators, in the absence of both a central unit and any explicit information exchange among robots. In the first stage, robots cooperatively estimate the object kinemati…

Cited by 26 Source ↗Scholar ↗

2016

Experiments on coordinated motion of aerial robotic manipulators

Giuseppe Muscio, Francesco Pierri, Miguel Angel Trujillo, Elisabetta Cataldi, Gerardo Giglio, Gianluca Antonelli +4

ICRA 2016

In this paper a three layer control architecture for multiple aerial robotic manipulators is presented. The top layer, on the basis of the desired mission, determines the end-effector desired trajectory for each manipulator, while the middle layer is in charge of computing the motion references in o

Cited by 28 Source ↗Scholar ↗