6 accepted papers
A novel onboard relative localization method, based on ultraviolet light, used for real-time control of a leader-follower formation of multirotor UAVs, is presented in this paper. A new smart sensor, UVDAR, is employed in an innovative way, which does not require communication and is extremely relia
The MAGMaS (Multiple Aerial-Ground Manipulator System) was proposed in [1] as a heterogeneous system composed of multiple ground (mobile) manipulators and aerial robots to collaboratively manipulate a long/large-sized object and demonstrated therein for rigid load manipulation. Here, we extend this…
This paper presents the OTHex platform for aerial manipulation developed at LAAS-CNRS. The OTHex is probably the first multi-directional thrust platform designed to act as Flying Assistant which can aid human operators and/or Ground Manipulators to move long bars for assembly and maintenance tasks.…
In this paper we lay the foundation of the first heterogeneous multi-robot system of the Multiple Aerial-Ground Manipulator System (MAGMaS) type. A MAGMaS consists of a ground manipulator and a team of aerial robots equipped with a simple gripper manipulator the same object. The idea is to benefit f…
We present the dynamic modeling, analysis, and control design of a Planar-Vertical Take-Off and Landing (PVTOL) underactuated aerial vehicle equipped either with a rigid- or an elastic-joint arm. We prove that in both cases the system is exactly linearizable with a dynamic feedback and differentiall…
We propose and experimentally validate a new class of models for the total thrust generation in multi-rotor UAVs which is suitable for low- and middle-end platforms. Differently from typical models assuming to instantaneously control the rotor spinning velocity, in the proposed class we consider tha…