7 accepted papers
This letter addresses the problem of generating robust and accurate trajectories taking into account uncertainties in the robot dynamic model. Based on the notion of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">closed-loop sensitivity</i>, which q
Closed-loop state sensitivity [1], [2] is a recently introduced notion that can be used to quantify deviations of the closed-loop trajectory of a robot/controller pair against variations of uncertain parameters in the robot model. While local optimization techniques are used in [1], [2] to generate…
We present the control in physical interaction with the environment of a Cable-suspended Aerial Multi-Robot Manipulator (CS-AMRM) called the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Fly-Crane</i> , composed of three aerial vehicles towed to a
In this work we propose an uncertainty-aware controller for the Fly-crane system, a statically rigid cable-suspended aerial manipulator using the minimum number of aerial robots and cables. The force closure property of the Fly-crane makes it ideal for applications where high precision is required a
We present the design, motion planning, and control of an aerial manipulator for non-trivial physical interaction tasks, such as pushing while sliding on curved surfaces-a task which is motivated by the increasing interest in autonomous non-destructive tests for industrial plants. The proposed aeria
This letter presents a new method to address the problem of task-constrained motion planning for aerial manipulators. We propose a control-aware planner based on the paradigm of tight coupling between planning and control. Such paradigm is especially useful in aerial manipulation, where the separati
The overall performance of sampling-based motion planning algorithms strongly depends on the use of suitable sampling and connection strategies, as well as on the accuracy of the distance metric considered to select neighbor states. Defining appropriate strategies and metrics is particularly hard wh…