4 accepted papers
This paper presents a novel control strategy for the compensation of the slippage effect during non-rigidly grasped object manipulation. A detailed dynamic model of the interconnected system composed of the robotic manipulator, the object and the internal forces and torques induced by the slippage e…
MAVLink is a popular message protocol for small Unmanned Aerial Vehicles (UAVs). In this work, we present a Fault Detection and Isolation (FDI) framework for fixed-wing UAVs which takes advantage of the information conveyed in MAVLink telemetry streams and produces a bank of residual generators. Str…
In this work, we present a decentralized motion planning and control architecture for the cooperative loading task using heterogeneous robotic agents operating in a cluttered workspace with static obstacles. Initially, we tackle the problem of calculating a set of feasible loading configurations via…
This paper presents the design of a vision-based object grasping and motion control architecture for a mobile manipulator system. The optimal grasping areas of the object are estimated using the partial point cloud acquired from an onboard RGB-D sensor system. The reach-to-grasp motion of the mobile…