4 accepted papers
This paper presents a novel actuation model and control allocation strategy for a redundantly-actuated multirotor unmanned aerial vehicle (UAV), referred to as the omnicopter. With an unconventional configuration, the omnicopter's eight propellers are able to produce all the six components of net fo…
A provably stable decentralized control scheme is proposed to allow multiple conventional quadcopters carry a cable-suspended payload. The method exploits a fundamental energetic passivity property of the combined drones, cables, and payload system to stably move the payload from its origin to desti…
This paper deals with motion control of under-actuated aerial robotic manipulators composed of multi-rotor Unmanned Aerial Vehicles and multi-link serial robotic arms. Kinematics and dynamics analysis of the multi-body mechanical system are performed. Using the method of virtual decomposition, adapt…
This paper is concerned with the mechanical design of a mobile manipulating unmanned ground vehicle (MM-UGV) coupled with an existing commercial unmanned aerial vehicle (UAV) to create a novel hybrid aerial/ground mobile manipulator. A novel systematic optimization-based approach is presented for ma…