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cs.RO2023
Safe Aerial Manipulator Maneuvering and Force Exertion via Control Barrier Functions
Dimitris Chaikalis, Vinicius Goncalves, Nikolaos Evangeliou +2
This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid…
cs.RO2022
Modular Multi-Copter Structure Control for Cooperative Aerial Cargo Transportation
Dimitris Chaikalis, Nikolaos Evangeliou, Anthony Tzes +1
The control problem of a multi-copter swarm, mechanically coupled through a modular lattice structure of connecting rods, is considered in this article. The system's structural ela…