1 citations · 1 across the 11 of their papers we have counts for
12 papers
Feasibility and Singularity in High-Order Safety-Critical Control for Quadrotor UAVs
Omayra Yago Nieto, Leonardo Colombo
We study high-order safety-critical control of quadrotor teams under bounded inputs and pairwise collision-avoidance constraints. Squared-distance barriers may lose thrust effectiv…
Safety-Critical Control for Quadrotor UAVs via Decentralized Navigation Functions
Omayra Yago Nieto, Alexandre Anahory Simoes, Leonardo Colombo
We study safety-critical control for teams of quadrotor UAVs driven by decentralized navigation functions under learned model uncertainty. These functions generate fully actuated t…
Robust Geometric Control of Catenary Robots under Unstructured Force Uncertainties
Alexandre Anahory Simoes, Leonardo Colombo
This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treate…
Data-Driven Boundary Control of Distributed Port-Hamiltonian Systems
Thomas Beckers, Leonardo Colombo
Distributed Port-Hamiltonian (dPHS) theory provides a powerful framework for modeling physical systems governed by partial differential equations and has enabled a broad class of b…
Structure-Preserving Learning of Nonholonomic Dynamics
Thomas Beckers, Anthony Bloch, Leonardo Colombo
Data-driven modeling is playing an increasing role in robotics and control, yet standard learning methods typically ignore the geometric structure of nonholonomic systems. As a con…
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…
Learning-Based Geometric Leader-Follower Control for Cooperative Rigid-Payload Transport with Aerial Manipulators
Omayra Yago Nieto, Leonardo Colombo
This paper presents a learning-based tracking control framework for cooperative transport of a rigid payload by multiple aerial manipulators under rigid grasp constraints. A unifie…
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…
Physics-informed Learning for Passivity-based Tracking Control
Thomas Beckers, Leonardo Colombo
Passivity-based control ensures system stability by leveraging dissipative properties and is widely applied in electrical and mechanical systems. Port-Hamiltonian systems (PHS), in…
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…