3 accepted papers
The integration of computer vision techniques for the accomplishment of autonomous interaction tasks represents a challenging research direction in the context of aerial robotics. In this paper, we consider the problem of contact-based inspection of a textured target of unknown geometry and pose. Ex…
In this work, we show how the interactive behavior of an aerial robot can be modeled and controlled effectively and elegantly in the port-Hamiltonian framework. We present an observer-based wrench/impedance controller for a fully-actuated hexarotor. The analysis and control are performed in a geomet…
In this work, we approach the control problem of fully-actuated UAVs in a geometric port-Hamiltonian framework. The UAV is modeled as a floating rigid body on the special Euclidean group SE(3). A unified near-hovering motion and impedance controller is derived by the energy-balancing passivity-based