59 citations · 297 across the 33 of their papers we have counts for
33 papers
Orientation-Aware Control and Trajectory Design for Aerial RIS-Assisted Wireless Communications
Abdoul Karim A. H. Saliah, Hajar El Hammouti, Daniel Bonilla Licea +1
Aerial Reconfigurable Intelligent Surfaces (ARISs) can enhance wireless connectivity in obstructed environments by combining reconfigurable metasurfaces with aerial mobility. Howev…
Tilt as a Certified Resource: Preserving Motor Wrench-Rate Authority on Articulated Multirotors
Giuseppe Silano, Martin Saska
Fully-actuated multirotor aerial vehicles must not only track nominal wrenches but retain the "readiness" to modulate them rapidly under disturbances. Classical effort-minimizing a…
3D Euler-Angle Orientation Control for Two-Ray Fading Mitigation in Maritime Air-to-Sea Communications
Mohammed Bajja, Abdoul Karim A. H. Saliah, Hajar El Hammouti +2
Maritime Air-to-Sea links are dominated by a line-of-sight ray and a sea-surface reflected ray whose destructive combination produces deep fades. Existing mitigation strategies opt…
Readiness Barrier Functions: Forward-Invariant Control Authority for Overactuated Multirotor Allocation
Giuseppe Silano
Allocation schemes that greedily maximize a readiness metric over the actuator fiber bundle of an overactuated multirotor produce commands that jump between disconnected optimal st…
Sensitivity-Based Robust NMPC for Close-Proximity Offshore Wind Turbine Inspection with a Tilted Multirotor
Giuseppe Silano, Martin Saska
Close-proximity offshore wind turbine inspection requires strict clearance control around large cylindrical structures under wind and model mismatch. Nominal Nonlinear Model Predic…
Communications-Aware NMPC for Multi-Rotor Aerial Relay Networks Under Jamming Interference
Giuseppe Silano, Daniel Bonilla Licea, Davide Liuzza +2
Multi-Rotor Aerial Vehicles (MRAVs) are increasingly used in communication-dependent missions where connectivity loss directly compromises task execution. Existing anti-jamming str…
STL-Based Motion Planning and Uncertainty-Aware Risk Analysis for Human-Robot Collaboration with a Multi-Rotor Aerial Vehicle
Giuseppe Silano, Amr Afifi, Martin Saska +1
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temp…
Free-Space Optical Communication-Driven NMPC Framework for Multi-Rotor Aerial Vehicles in Structured Inspection Scenarios
Giuseppe Silano, Daniel Bonilla Licea, Hajar El Hammouti +1
This paper introduces a Nonlinear Model Predictive Control (NMPC) framework for communication-aware motion planning of Multi-Rotor Aerial Vehicles (MRAVs) using Free-Space Optical…
Robust Planning and Control of Omnidirectional MRAVs for Aerial Communications in Wireless Networks
Giuseppe Silano, Daniel Bonilla Licea, Hajar El Hammouti +2
A new class of Multi-Rotor Aerial Vehicles (MRAVs), known as omnidirectional MRAVs (o-MRAVs), has gained attention for their ability to independently control 3D position and orient…
Reshaping UAV-Enabled Communications with Omnidirectional Multi-Rotor Aerial Vehicles
Daniel Bonilla Licea, Giuseppe Silano, Hajar El Hammouti +2
A new class of Multi-Rotor Aerial Vehicles (MRAVs), known as omnidirectional MRAVs (o-MRAVs), has attracted significant interest in the robotics community. These MRAVs have the uni…
Task Coordination and Trajectory Optimization for Multi-Aerial Systems via Signal Temporal Logic: A Wind Turbine Inspection Study
Giuseppe Silano, Alvaro Caballero, Davide Liuzza +3
This paper presents a method for task allocation and trajectory generation in cooperative inspection missions using a fleet of multirotor drones, with a focus on wind turbine inspe…
A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems: a Wind Turbine Inspection Case Study
Giuseppe Silano, Alvaro Caballero, Davide Liuzza +3
The paper addresses task assignment and trajectory generation for collaborative inspection missions using a fleet of multi-rotors, focusing on the wind turbine inspection scenario.…
Harnessing the Potential of Omnidirectional Multi-Rotor Aerial Vehicles in Cooperative Jamming Against Eavesdropping
Daniel Bonilla Licea, Hajar El Hammouti, Giuseppe Silano +1
Recent research in communications-aware robotics has been propelled by advancements in 5G and emerging 6G technologies. This field now includes the integration of Multi-Rotor Aeria…
PACNav: Enhancing Collective Navigation for UAV Swarms in Communication-Challenged Environments
Afzal Ahmad, Daniel Bonilla Licea, Giuseppe Silano +2
This article presents Persistence Administered Collective Navigation (PACNav) as an approach for achieving decentralized collective navigation of Unmanned Aerial Vehicle (UAV) swar…
Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications
Vít Krátký, Giuseppe Silano, Matouš Vrba +5
This paper presents a formation control approach for contactless gesture-based Human-Swarm Interaction (HSI) between a team of multi-rotor Unmanned Aerial Vehicles (UAVs) and a hum…
Omnidirectional Multi-Rotor Aerial Vehicle Pose Optimization: A Novel Approach to Physical Layer Security
Daniel Bonilla Licea, Giuseppe Silano, Mounir Ghogho +1
The integration of Multi-Rotor Aerial Vehicles (MRAVs) into 5G and 6G networks enhances coverage, connectivity, and congestion management. This fosters communication-aware robotics…
Survey of Simulators for Aerial Robots: An Overview and In-Depth Systematic Comparisons
Cora A. Dimmig, Giuseppe Silano, Kimberly McGuire +4
Uncrewed Aerial Vehicle (UAV) research faces challenges with safety, scalability, costs, and ecological impact when conducting hardware testing. High-fidelity simulators offer a vi…
Automating Bird Diverter Installation through Multi-Aerial Robots and Signal Temporal Logic Specifications
Alvaro Caballero, Giuseppe Silano
This paper tackles the task assignment and trajectory generation problem for bird diverter installation using a fleet of multi-rotors. The proposed motion planner considers payload…
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…
MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems
Daniel Hert, Tomas Baca, Pavel Petracek +18
This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor a…
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…
Communications-Aware Robotics: Challenges and Opportunities
Daniel Bonilla Licea, Giuseppe Silano, Mounir Ghogho +1
The use of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs) has seen significant growth in the research community, industry, and society. Many of these agents ar…
PACNav: A collective navigation approach for UAV swarms deprived of communication and external localization
Afzal Ahmad, Daniel Bonilla Licea, Giuseppe Silano +2
This article proposes Persistence Administered Collective Navigation (PACNav) as an approach for achieving decentralized collective navigation of Unmanned Aerial Vehicle (UAV) swar…
MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments
Daniel Hert, Tomas Baca, Pavel Petracek +16
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is hig…