431 citations · 1.3k across the 21 of their papers we have counts for
24 papers
A Signal Temporal Logic Planner for Ergonomic Human-Robot Collaboration
Giuseppe Silano, Amr Afifi, Martin Saska +1
This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Sign…
Ergonomic Collaboration between Humans and Robots: An Energy-Aware Signal Temporal Logic Perspective
Giuseppe Silano, Amr Afifi, Martin Saska +1
This paper presents a method for designing energy-aware collaboration tasks between humans and robots, and generating corresponding trajectories to carry out those tasks. The metho…
Modelling, Analysis and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV
Youssef Aboudorra, Chiara Gabellieri, Ralph Brantjes +2
This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing a…
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…
Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System subject to Parameter Uncertainty
Chiara Gabellieri, Marco Tognon, Dario Sanalitro +1
This work studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating…
Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load using Multiple UAVs
Sihao Sun, Antonio Franchi
In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best…
A Dynamic Programming Framework for Optimal Planning of Redundant Robots Along Prescribed Paths With Kineto-Dynamic Constraints
Enrico Ferrentino, Heitor J. Savino, Antonio Franchi +1
Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is…
Control of over-redundant cooperative manipulation via sampled communication
Enrica Rossi, Marco Tognon, Ruggero Carli +2
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulat…
Coordinated Multi-Robot Trajectory Tracking Control over Sampled Communication
Enrica Rossi, Marco Tognon, Luca Ballotta +4
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perfor…
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-…
Hierarchical non-linear control for multi-rotor asymptotic stabilization based on zero-moment direction
Giulia Michieletto, Angelo Cenedese, Luca Zaccarian +1
We consider the hovering control problem for a class of multi-rotor aerial platforms with generically oriented propellers. Given the intrinsically coupled translational and rotatio…
Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories
Matthias Faessler, Antonio Franchi, Davide Scaramuzza
In this paper, we prove that the dynamical model of a quadrotor subject to linear rotor drag effects is differentially flat in its position and heading. We use this property to com…
From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots
Sara Spedicato, Antonio Franchi, Giuseppe Notarstefano
In this paper we present a maneuver regulation scheme for Vertical Take-Off and Landing (VTOL) micro aerial vehicles (MAV). Differently from standard trajectory tracking, maneuver…
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…
Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars
Marco Tognon, Antonio Franchi
We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear…
Distributed Estimation of State and Parameters in Multi-Agent Cooperative Load Manipulation
Antonio Franchi, Antonio Petitti, Alessandro Rizzo
We present two distributed methods for the estimation of the kinematic parameters, the dynamic parameters, and the kinematic state of an unknown planar body manipulated by a decent…
Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots
Thomas Nestmeyer, Paolo Robuffo Giordano, Heinrich H. Bülthoff +1
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology…
Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing Measurements
Daniel Zelazo, Antonio Franchi, Paolo Robuffo Giordano
This work considers the problem of estimating the unscaled relative positions of a multi-robot team in a common reference frame from bearing-only measurements. Each robot has acces…
Decentralized Rigidity Maintenance Control with Range Measurements for Multi-Robot Systems
Daniel Zelazo, Antonio Franchi, Heinrich H. Bülthoff +1
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topol…
Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance
Antonio Franchi, Paolo Stegagno, Giuseppe Oriolo
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for differe…
Online Leader Selection for Improved Collective Tracking and Formation Maintenance
Antonio Franchi, Paolo Robuffo Giordano
The goal of this work is to propose an extension of the popular leader-follower framework for multi-agent collective tracking and formation maintenance in presence of a time- varyi…
On cooperative patrolling: optimal trajectories, complexity analysis, and approximation algorithms
Fabio Pasqualetti, Antonio Franchi, Francesco Bullo
The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal propert…