6 papers
Custom PX4 firmware for autonomous hybrid aerial-marine missions
Andrea Capuozzo, Fabio Ruggiero, Vincenzo Lippiello
Mapping and monitoring aquatic environments can benefit from hybrid aerial-amphibious drones able to combine flight and water-surface navigation within the same mission. This paper…
CA-AC-MPC: CUDA-Accelerated Actor-Critic Model Predictive Control
Antoonio Buo, Vittorio Cammarota, Michele Avagnale +3
In the literature, actor-critic model predictive control (AC-MPC) integrates MPC with reinforcement learning to enable high-performance control of complex dynamical systems. Howeve…
HATPIC: An Open-Source Single Axis Haptic Joystick for Robotic Development
Julien Mellet, Fabio Ruggiero, Vincenzo Lippiello
Humans process significantly more information through the sense of touch than through vision. Consequently, haptics for telemanipulation is poised to become essential in the coming…
Assisted Physical Interaction: Autonomous Aerial Robots with Neural Network Detection, Navigation, and Safety Layers
Andrea Berra, Viswa Narayanan Sankaranarayanan, Achilleas Santi Seisa +10
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target d…
Design and Control of an Omnidirectional Aerial Robot with a Miniaturized Haptic Joystick for Physical Interaction
Julien Mellet, Andrea Berra, Salvatore Marcellini +4
Fully actuated aerial robot proved their superiority for Aerial Physical Interaction (APhI) over the past years. This work proposes a minimal setup for aerial telemanipulation, enh…
Extended Set-based Tasks for Multi-task Execution and Prioritization
Gennaro Notomista, Mario Selvaggio, Francesca Pagano +4
The ability of executing multiple tasks simultaneously is an important feature of redundant robotic systems. As a matter of fact, complex behaviors can often be obtained as a resul…