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cs.RO2025
Whole-body motion planning and safety-critical control for aerial manipulation
Lin Yang, Jinwoo Lee, Domenico Campolo +2
Aerial manipulation combines the maneuverability of multirotors with the dexterity of robotic arms to perform complex tasks in cluttered spaces. Yet planning safe, dynamically feas…
cs.RO2025
Geometric Backstepping Control of Omnidirectional Tiltrotors Incorporating Servo-Rotor Dynamics for Robustness against Sudden Disturbances
Jaewoo Lee, Dongjae Lee, Jinwoo Lee +3
This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuat…
cs.RO2025
Safety-Critical Control for Aerial Physical Interaction in Uncertain Environment
Jeonghyun Byun, Yeonjoon Kim, Dongjae Lee +1
Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-bas…