84 citations · 167 across the 5 of their papers we have counts for
6 papers
EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems
Andre Coelho, Alin Albu-Schaeffer, Arne Sachtler +4
This paper proposes a Nonlinear Model-Predictive Control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action t…
A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV
Andriy Dmytruk, Giuseppe Silano, Davide Bicego +2
A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is…
FAST-Hex -- A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation
Markus Ryll, Davide Bicego, Mattia Giurato +2
We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an under-actuated to a fully-actuated configuration with only one additional control i…
Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs
Davide Bicego, Jacopo Mazzetto, Ruggero Carli +2
In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented…
Development of SAM: cable-Suspended Aerial Manipulator
Yuri S. Sarkisov, Min Jun Kim, Davide Bicego +4
High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-…
Full-Pose Tracking Control for Aerial Robotic Systems with Laterally-Bounded Input Force
Antonio Franchi, Ruggero Carli, Davide Bicego +1
In this paper, we define a general class of abstract aerial robotic systems named Laterally Bounded Force (LBF) vehicles, in which most of the control authority is expressed along…