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Salua Hamaza

13 accepted papers

2026

Field Deployment of BiodivX Drones in the Amazon Rainforest for Biodiversity Monitoring (I)

Christian Geckeler, Steffen Kirchgeorg, Georg Miguel Strunck, Frederik Bendix Thostrup, Florencia Sangermano, Andrea Desiderato +18
ICRA 2026poster

Tropical rainforests are among the most biodiverse ecosystems on Earth and also among the most threatened by anthropogenic pressures such as deforestation and climate change. Understanding human impact and the efficacy of conservation and preservation efforts requires scalable and comprehensive biod…

Cited by 0Scholar ↗
2026

Omnidirectional Dual-Arm Aerial Manipulator with Proprioceptive Contact Localization for Landing on Slanted Roofs

Martijn B.J. Brummelhuis, Nathan F. Lepora, Salua Hamaza
ICRA 2026poster

Operating drones in urban environments often means they need to land on rooftops, which can have different geometries and surface irregularities. Accurately detecting roof inclination using conventional sensing methods, such as vision based or acoustic techniques, can be unreliable, as measurement q…

Cited by 0Source ↗PDF ↗Scholar ↗
2024

A Morphing Quadrotor-Blimp With Balloon Failure Resilience for Mobile Ecological Sensing

Suryansh Sharma, Mike Verhoeff, Floor Joosen, R. Venkatesha Prasad, Salua Hamaza
RA-L 2024

The increasing popularity of helium-assisted blimps for extended monitoring or data collection applications is hindered by a critical limitation – single-point failure when the balloon malfunctions or bursts. To address this, we introduce <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xl

Cited by 10Source ↗Scholar ↗
2023

ADAPT: A 3 Degrees of Freedom Reconfigurable Force Balanced Parallel Manipulator for Aerial Applications

Kartik Suryavanshi, Salua Hamaza, Volkert van der Wijk, Just Herder
ICRA 2023poster

In this paper, we present the ADAPT, a novel reconfigurable force-balanced parallel manipulator for spatial motions and interaction capabilities underneath a drone. The reconfigurable aspect allows different motion-based 3-DoF operation modes like translational, rotational, planar, and so on, withou…

Cited by 3Source ↗Scholar ↗
2022

Automated Aerial Screwing with a Fully Actuated Aerial Manipulator

Micha Schuster, David Bernstein, Paul Reck, Salua Hamaza, Michael Beitelschmidt
IROS 2022poster

The tasks that unmanned aerial vehicles (UAVs) have taken upon have progressively grown in complexity over the years, alongside with the level of autonomy with which they are carried out. In this work, we present an example of aerial screwing operations with a fully-actuated tilt-rotor platform. Key…

Cited by 25Source ↗Scholar ↗
2022

Battle the Wind: Improving Flight Stability of a Flapping Wing Micro Air Vehicle Under Wind Disturbance With Onboard Thermistor-Based Airflow Sensing

Sunyi Wang, Diana A. Olejnik, Christophe De Wagter, Bas W. van Oudheusden, Guido de Croon, Salua Hamaza
RA-L 2022

Flyers in nature equip different airflow sensing mechanisms to navigate through wind disturbances with remarkable flight stability. Embracing bio-inspiration, airflow sensing with conventional sensors has long been utilized in flight control for larger micro air vehicles (MAVs). Bio-inspired flappin

Cited by 12Source ↗Scholar ↗
2019

2D Contour Following with an Unmanned Aerial Manipulator: Towards Tactile-Based Aerial Navigation

Salua Hamaza, Ioannis Georgilas, Thomas Richardson
IROS 2019poster

In this paper a force controller via energy tanks is implemented for novel applications in aerial contour follow. This control approach allows the aerial vehicle to trace out a boundary whilst in continuous contact with a surface by means of an actively compliant manipulator. This represents the fir…

Cited by 18Source ↗Scholar ↗
2019

Sensor Installation and Retrieval Operations Using an Unmanned Aerial Manipulator

Salua Hamaza, Ioannis Georgilas, Manuel J. Fernandez, Pedro J. Sanchez-Cuevas, Thomas Richardson, Guillermo Heredia +1
RA-L 2019

A wide range of applications for which unmanned aerial vehicles (UAVs) are ideally suited rely on the development of manipulators capable of exchanging forces with the environment. One such application is the installation and retrieval of intelligent sensors for monitoring wide-spread areas and loca

Cited by 71Source ↗Scholar ↗
2018

Towards an Adaptive-Compliance Aerial Manipulator for Contact- Based Interaction

Salua Hamaza, Ioannis Georgilas, Thomas Richardson
IROS 2018poster

As roles for unmanned aerial vehicles (UAVs)continue to diversify, the ability to sense and interact closely with the environment becomes increasingly important. Within this paper we report on the initial flight tests of a novel adaptively compliant actuator which will allow a UAV to carry out such…

Cited by 28Source ↗Scholar ↗
2016

Compliant Aerial Manipulators: Toward a New Generation of Aerial Robotic Workers

Teun J. Bartelds, Alex Capra, Salua Hamaza, Stefano Stramigioli, Matteo Fumagalli
RA-L 2016

This letter focuses on the problem of handling impacts by means of an aerial manipulator and proposes a solution that combines the control of the aerial manipulator's end-effector position with an innovative design approach of aerial manipulation systems, consisting of both active and passive joints

Cited by 129Source ↗Scholar ↗