6 accepted papers
The field of aerial manipulation has seen rapid advances, transitioning from push-and-slide tasks to interaction with articulated objects. The motion trajectory of these complex actions is usually hand-crafted or a result of online optimization methods like Model Predictive Control (MPC) or Model Pr…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with partially-known environments, which may contain uncertainties including un
Model-based controllers on real robots require accurate knowledge of the system dynamics to perform optimally. For complex dynamics, first-principles modeling is not sufficiently precise, and data-driven approaches can be leveraged to learn a statistical model from real experiments. However, the eff…
Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspection. This comes at the price of an increase in model complexity. These vehicles usually have non-negligible, repetitiv
This work presents a method to control omnidirectional micro aerial vehicles (OMAVs) for the tracking of 6-DoF trajectories in free space. A rigid body model based approach is applied in a receding horizon fashion to generate optimal wrench commands that can be constrained to meet limits given by th…
This paper presents the "monospinner": a mechanically simple flying vehicle with only one moving part. The vehicle is shown to be controllable in three translational degrees of freedom and two rotational degrees of freedom. The vehicle has a single scalar control input, the thrust magnitude, and is