8 accepted papers
This paper introduces a safety filter to ensure collision avoidance for multirotor aerial robots. The proposed formalism leverages a single Composite Control Barrier Function from all position constraints acting on a third-order nonlinear representation of the robot's dynamics. We analyze the recurs
This paper introduces a Nonlinear Model Predictive Control (N-MPC) framework exploiting a Deep Neural Network for processing onboard-captured depth images for collision avoidance in trajectory-tracking tasks with UAVs. The network is trained on simulated depth images to output a collision score for…
Autonomous robot navigation can be particularly demanding, especially when the surrounding environment is not known and safety of the robot is crucial. This work relates to the synthesis of Control Barrier Functions (CBFs) through data for safe navigation in unknown environments. A novel methodology…
This work introduces a Nonlinear Model Predictive Control (N-MPC) for camera-equipped Unmanned Aerial Vehicles (UAVs), which controls at the motor level the UAV motion to ensure the quality of vision-based state estimation while performing other tasks. The controller ensures visibility over a suffic…
This letter introduces a cooperative control framework based on Nonlinear Model Predictive Control (NMPC) for solving an Active Information Acquisition problem (AIA) using a system of multiple multirotor UAVs equipped with onboard sensors. The observation task of the NMPC is a minimum-uncertainty po
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…
This letter presents a perception-aware and motor-level non-linear model predictive control scheme for multi-rotor aerial vehicles. Our formulation considers both real actuation limitations of the platform, and realistic perception objectives for the visibility coverage of an environmental feature w
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…