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