1 citations · 1 across the 8 of their papers we have counts for
8 papers
Multi-Robot Bearing-based Pose Estimation via Angle Rigidity
J. Francisco Presenza, Leonardo J. Colombo, Ignacio Mas +1
This letter proposes a novel distributed pose estimator for multi-robot systems evolving on . The robots' positions are estimated in using angles com…
Angle-based Localization and Rigidity Maintenance Control for Multi-Robot Networks
J. Francisco Presenza, Leonardo J. Colombo, Juan I. Giribet +1
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing r…
Virtual Constraint for a Quadrotor UAV Enforcing a Body-Axis Pointing Direction
Alexandre Anahory Simoes, Leonardo Colombo, Juan Giribet +1
We propose a geometric control framework on for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded throu…
Observer-Based Estimation and Hydrostatic Inertia Modeling for Cooperative Transport of Variable-Inertia Loads with Quadrotors
Jacob Goodman, Leonardo Colombo, Juan Giribet
We address load-parameter estimation in cooperative aerial transport with time-varying mass and inertia, as in fluid-carrying payloads. Using an intrinsic manifold model of the mul…
Aggressiveness-Aware Learning-based Control of Quadrotor UAVs with Safety Guarantees
Leonardo Colombo, Thomas Beckers, Juan Giribet
This paper presents an aggressiveness-aware control framework for quadrotor UAVs that integrates learning-based oracles to mitigate the effects of unknown disturbances. Starting fr…
Dual-quaternion learning control for autonomous vehicle trajectory tracking with safety guarantees
Omayra Yago Nieto, Alexandre Anahory Simoes, Juan I. Giribet +1
We propose a learning-based trajectory tracking controller for autonomous robotic platforms whose motion can be described kinematically on . The controller is formu…
Learning-based decentralized control with collision avoidance for multi-agent systems
Omayra Yago Nieto, Alexandre Anahory Simoes, Juan I. Giribet +1
In this paper, we present a learning-based tracking controller based on Gaussian processes (GP) for collision avoidance of multi-agent systems where the agents evolve in the specia…
Variational integrators for optimal control of foldable drones
L. Colombo, J. Giribet, D. Martín de Diego
Numerical methods that preserves geometric invariants of the system such as energy, momentum and symplectic form, are called geometric integrators. These include variational integr…