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Konstantin Kondak

16 accepted papers

2023

Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation

Yuri S. Sarkisov, Andre Coelho, Maihara G. Santos, Min Jun Kim, Dzmitry Tsetserukou, Christian Ott +1
ICRA 2023poster

During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against such disturbances because of possible overheating and high power consumption. To o…

Cited by 10Source ↗Scholar ↗
2020

Compliance Control of a Cable-Suspended Aerial Manipulator using Hierarchical Control Framework

Chiara Gabellieri, Yuri S Sarkisov, Andre Coelho, Lucia Pallottino, Konstantin Kondak, Min Jun Kim
IROS 2020poster

Aerial robotic manipulation is an emergent trend that poses several challenges. To overcome some of these, the DLR cable-Suspended Aerial Manipulator (SAM) has been envisioned. SAM is composed of a fully actuated multi-rotor anchored to a main carrier through a cable and a KUKA LWR attached below th…

Cited by 10Source ↗Scholar ↗
2020

Energy-Based Cooperative Control for Landing Fixed-Wing UAVs on Mobile Platforms Under Communication Delays

Tin Muskardin, Andre Coelho, Eduardo Rodrigues Della Noce, Aníbal Ollero, Konstantin Kondak
RA-L 2020

The landing of a fixed-wing UAV on top of a mobile landing platform requires a cooperative control strategy, which is based on relative motion estimates. These estimates typically suffer from communication or processing time delays, which can render an otherwise stable control system unstable. Such

Cited by 14Source ↗Scholar ↗
2020

Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor

Yuri S. Sarkisov, Min Jun Kim, Andre Coelho, Dzmitry Tsetserukou, Christian Ott, Konstantin Kondak
ICRA 2020poster

This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double pendulum, and it can generate a body wrench as a control action. The main challenge is the fact that there is only one onboard IMU sensor which does not provid…

Cited by 24Source ↗Scholar ↗
2020

Visual-Inertial Telepresence for Aerial Manipulation

Jongseok Lee, Ribin Balachandran, Yuri S. Sarkisov, Marco De Stefano, Andre Coelho, Kashmira Shinde +3
ICRA 2020poster

This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in real-time. We achieve this by utilizing onboard visual and inertia…

Cited by 66Source ↗Scholar ↗
2020

Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator

Andre Coelho, Harsimran Singh, Konstantin Kondak, Christian Ott
ICRA 2020poster

Attaching a robotic manipulator to a flying base allows for significant improvements in the reachability and versatility of manipulation tasks. In order to explore such systems while taking advantage of human capabilities in terms of perception and cognition, bilateral teleoperation arises as a reas…

Cited by 25Source ↗Scholar ↗
2019

Asynchronous Behavior Trees with Memory aimed at Aerial Vehicles with Redundancy in Flight Controller

Evgenii Safronov, Michael Vilzmann, Dzmitry Tsetserukou, Konstantin Kondak
IROS 2019poster

Complex aircraft systems are becoming a target for automation. For successful operation, they require both efficient and readable mission execution system (MES). Flight control computer (FCC) units, as well as all important subsystems, are often duplicated. Discrete nature of MES does not allow smal…

Cited by 17Source ↗Scholar ↗
2019

Development of SAM: cable-Suspended Aerial Manipulator

Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi +1
ICRA 2019poster

High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this paper. Instead of attaching a robotic manipulator directly to an…

Cited by 83Source ↗Scholar ↗
2018

Passive Compliance Control of Aerial Manipulators

Min Jun Kim, Ribin Balachandran, Marco De Stefano, Konstantin Kondak, Christian Ott
IROS 2018poster

This paper presents a passive compliance control for aerial manipulators to achieve stable environmental interactions. The main challenge is the absence of actuation along body-planar directions of the aerial vehicle which might be required during the interaction to preserve passivity. The controlle…

Cited by 21Source ↗Scholar ↗
2018

Smoother Position-Drift Compensation for Time Domain Passivity Approach Based Teleoperation

Andre Coelho, Harsimran Singh, Tin Muskardin, Ribin Balachandran, Konstantin Kondak
IROS 2018poster

Despite being one of the most robust methods in bilateral teleoperation, Time Domain Passivity Approach (TDPA)presents the drawback of accumulating position drift between master and slave devices. The lack of position synchronization poses an obstacle to the performance of teleoperation and may prev…

Cited by 29Source ↗Scholar ↗
2018

Towards Autonomous Stratospheric Flight: A Generic Global System Identification Framework for Fixed-Wing Platforms

Jongseok Lee, Tin Muskardin, Cristina Ruiz Pacz, Philipp Oettershagen, Thomas Stastny, Inkyu Sa +2
IROS 2018poster

System identification of High Altitude Long Endurance fixed-wing aerial vehicles is challenging as its operating flight envelope covers wide ranges of altitudes and Mach numbers. We present a new global system identification framework geared towards such fixed-wing aerial platforms where the aim is…

Cited by 6Source ↗Scholar ↗
2017

Enabling robot assisted landing of heavy UAV rotorcraft via combined control and workload sharing

Moritz Maier, Konstantin Kondak, Christian Ott
IROS 2017poster

In this paper, a tracking control approach for robot assisted landing of UAV rotorcraft, such as multicopters and helicopters, is presented. The aim is to safely land these type of flying vehicles under side wind conditions and on moving surfaces using a robot manipulator arm mounted on the ground.…

Cited by 5Source ↗Scholar ↗
2016

High accuracy visual servoing for aerial manipulation using a 7 degrees of freedom industrial manipulator

Maximilian Laiacker, Felix Huber, Konstantin Kondak
IROS 2016poster

This paper is devoted to the performance optimization of an aerial manipulation system composed of a Flettner-helicopter and 7 DoF manipulator. With experiments we demonstrate that the time delays in signal propagation between perception and actuation modules play an important role for the overall p…

Cited by 48Source ↗Scholar ↗
2016

Landing of a fixed-wing UAV on a mobile ground vehicle

Tin Muskardin, Georg Balmer, Sven Wlach, Konstantin Kondak, Maximilian Laiacker, Aníbal Ollero
ICRA 2016

The development of solar-powered high-altitude UAV has gained increasing attention in the recent years. Several aircraft have had successful flights in the stratosphere, but despite advances in lightweight design they can only carry small payloads compared to the total takeoff mass. This paper sugge

Cited by 35Source ↗Scholar ↗
2016

Robot-Assisted Landing of VTOL UAVs: Design and Comparison of Coupled and Decoupling Linear State-Space Control Approaches

Moritz Maier, Andre Oeschger, Konstantin Kondak
RA-L 2016

This paper addresses the problem of landing a VTOL UAV using a serial robotic manipulator fixed to the landing surface, which assists the UAV during the last, most challenging, landing phase. In this phase, UAV and manipulator are connected via a universal hinge, which decouples the flying vehicle’s

Cited by 13Source ↗Scholar ↗