5 accepted papers
This paper considers the problem of coordinating a group of mobile robots for distributedly estimating the parameters of a diffusion model that generates a time-varying spatial field. We assume that each robot can measure the local concentration of a substance continuously released in the environmen…
In this paper, we address the problem of cooperative manipulation of a cable-suspended load by a team of aerial robots. Unlike classical approaches that rely on centralized controllers, we propose a Distributed Nonlinear Model Predictive Control (DNMPC) framework in which the UAVs communicate over a…
We present an experimental validation framework for space robotics that leverages underwater environments to approximate microgravity dynamics. While neutral buoyancy conditions make underwater robotics an excellent platform for space robotics validation, there are still dynamical and environmental …
In this work, we propose a framework for the distributed implementation of Quadratic Programs-based controllers, building upon and rectifying a significant limitation in a previously presented approach. The proposed framework is primarily motivated by the distributed implementation of Control Barrie…
This letter considers the problem of persistently monitoring a set of moving targets using a team of aerial vehicles. Each agent in the network is assumed equipped with a camera with limited range and Field of View (FoV) providing bearing measurements and it implements an Information Consensus Filte