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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…