431 citations · 1.3k across the 21 of their papers we have counts for
4 papers · 1 filter
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…