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Guillermo Heredia

15 accepted papers

2026

A Nonlinear MPC for Physical Human-Aerial Robot Interaction in Collaborative Transportation Tasks

Antonio Gonzalez-Morgado, Jonas Soueidan, Guillermo Heredia, Anibal Ollero, Philippe Fraisse, Marco Tognon +1
ICRA 2026poster

Aerial robots are transitioning from traditional surveillance and monitoring roles to more advanced tasks involving physical interaction. Despite this progress, physical Human-Aerial Robot Interaction remains largely underexplored due to the complexity and stability-related issues of such platforms.…

Cited by 0Source ↗Scholar ↗
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

A Nonlinear MPC for Physical Human-Aerial Robot Interaction in Collaborative Transportation Tasks

Antonio González-Morgado, Jonas Soueidan, Guillermo Heredia, Aníbal Ollero, Philippe Fraisse, Marco Tognon +1
RA-L 2025

Aerial robots are transitioning from traditional surveillance and monitoring roles to more advanced tasks involving physical interaction. Despite this progress, physical Human-Aerial Robot Interaction remains largely underexplored due to the complexity and stability-related issues of such platforms.

Cited by 2Source ↗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

Assessment and Modeling of the Aerodynamic Ground Effect of a Fully-Actuated Hexarotor With Tilted Propellers

Ámbar Garofano-Soldado, Antonio González-Morgado, Guillermo Heredia, Aníbal Ollero
RA-L 2024

This letter investigates the ground proximity effects of a fully-actuated multirotor unmanned aerial vehicle (UAV). Different configurations of tilted rotors and a wide range of UAV heights relative to the ground are considered. In order to characterize the effect, an extensive experimental study wa

Cited by 6Source ↗Scholar ↗
2020

Benchmarks for Aerial Manipulation

Alejandro Suárez, Víctor Manuel Vega, Manuel J. Fernandez, Guillermo Heredia, Aníbal Ollero
RA-L 2020

This letter is devoted to benchmarks for aerial manipulation robots (drones equipped with robotic arms), which are demonstrating their potential to conduct tasks involving physical interactions with objects or the environment in high altitude workspaces, being a cost effective solution for example i

Cited by 61Source ↗Scholar ↗
2019

Contact-Based Bridge Inspection Multirotors: Design, Modeling, and Control Considering the Ceiling Effect

Antonio E. Jimenez-Cano, Pedro J. Sanchez-Cuevas, Pedro Grau, Aníbal Ollero, Guillermo Heredia
RA-L 2019

This letter presents the design, modeling, and control of a multirotor for inspection of bridges with full contact. The letter analyzes the aerodynamic ceiling effect when the aerial robot approaches the bridge surface from below, including its aerodynamic characterization using computational fluid

Cited by 63Source ↗Scholar ↗
2019

Sensor Installation and Retrieval Operations Using an Unmanned Aerial Manipulator

Salua Hamaza, Ioannis Georgilas, Manuel J. Fernandez, Pedro J. Sanchez-Cuevas, Thomas Richardson, Guillermo Heredia +1
RA-L 2019

A wide range of applications for which unmanned aerial vehicles (UAVs) are ideally suited rely on the development of manipulators capable of exchanging forces with the environment. One such application is the installation and retrieval of intelligent sensors for monitoring wide-spread areas and loca

Cited by 71Source ↗Scholar ↗
2019

Small-Scale Compliant Dual Arm with Tail for Winged Aerial Robots

Alejandro Suarez, Manuel Perez, Guillermo Heredia, Anibal Ollero
IROS 2019poster

Winged aerial robots represent an evolution of aerial manipulation robots, replacing the multirotor vehicles by fixed or flapping wing platforms. The development of this morphology is motivated in terms of efficiency, endurance and safety in some inspection operations where multirotor platforms may…

Cited by 7Source ↗Scholar ↗
2018

Lightweight and Compliant Long Reach Aerial Manipulator for Inspection Operations

A. Suarez, P. Sanchez-Cuevas, M. Fernandez, M. Perez, Guillermo Heredia, Anibal Ollero
IROS 2018poster

The proximity between the multirotor blades and the environmental obstacles restricts the application of aerial manipulators in inspection tasks due to the risk of impacts, the limitation in the reach of the arm, and the physical interactions. This paper presents a long reach aerial manipulator cons…

Cited by 47Source ↗Scholar ↗
2018

Physical-Virtual Impedance Control in Ultralightweight and Compliant Dual-Arm Aerial Manipulators

Alejandro Suárez, Guillermo Heredia, Aníbal Ollero
RA-L 2018

Dual-arm aerial manipulation requires the design and development of high performance robotic arms in terms of safety, robustness, and force/torque/impedance control, taking into account the integration in the aerial platform, the strong weight constraints, and the technological limitations of the se

Cited by 97Source ↗Scholar ↗
2017

Anthropomorphic, compliant and lightweight dual arm system for aerial manipulation

Alejandro Suarez, Pablo Ramon Soria, Guillermo Heredia, Begoña C. Arrue, Anibal Ollero
IROS 2017poster

This paper presents a low weight (1.3 kg), human size dual arm system with compliant joints designed for aerial manipulation with a multirotor platform. Each arm provides four degrees of freedom (DOF) for end effector positioning in a kinematic configuration close to the human arm: shoulder pitch, r…

Cited by 71Source ↗Scholar ↗
2016

Lightweight compliant arm with compliant finger for aerial manipulation and inspection

Alejandro Suarez, Guillermo Heredia, Anibal Ollero
IROS 2016poster

This paper presents the design and experimental validation of a compliant and lightweight 3-DOF robotic arm - shoulder yaw, shoulder pitch and elbow pitch joints - equipped with a compliant finger module intended for aerial inspection and manipulation in contact with the environment. A simple transm…

Cited by 85Source ↗Scholar ↗