4 citations · 7 across the 9 of their papers we have counts for
11 papers
Fiber-Normalized Manipulability and Determinant Proxies: Intrinsic Redundancy Optimization Across and Within Task Fibers
Antonio Franchi, Mirko Mizzoni
This work establishes that determinant-based manipulability is an exact objective for fixed-task redundancy optimization, despite its dependence on task coordinates and the choice…
Differential Realizability of Static Control Allocation in Multirotors: An Impossibility under Nonredundant Full Actuation and a Pseudoinverse Obstruction under Redundant Actuation
Antonio Franchi, Mirko Mizzoni
Control allocation for multirotors with bidirectional propellers is commonly formulated in signed-thrust variables, where the wrench map is linear. The signed-quadratic map from ph…
Stability Analysis of Geometric Control for a Canonical Class of Underactuated Aerial Vehicles with Spurious Forces
Simone Orelli, Mirko Mizzoni, Antonio Franchi
Standard geometric control relies on force-moment decoupling, an assumption that breaks down in many aerial platforms due to spurious forces naturally induced by control moments. W…
The N-5 Scaling Law: Topological Dimensionality Reduction in the Optimal Design of Fully-actuated Multirotors
Antonio Franchi
We investigate the topological structure of the optimal actuation landscape for fully-actuated N-rotor aerial vehicles. By formulating the design problem on the 2N-dimensional prod…
Synchronous Observer Design for Landmark-Inertial SLAM with Almost-Global Convergence
Arkadeep Saha, Pieter van Goor, Antonio Franchi +1
Landmark Inertial Simultaneous Localisation and Mapping (LI-SLAM) is the problem of estimating the locations of landmarks in the environment and the robot's pose relative to those…
Switching Among Feedback-Linearizing Output Sets (Melds): Dwell-Time and Compatibility Guarantees
Mirko Mizzoni, Pieter van Goor, Barbara Bazzana +1
We study switching among multiple square selections of output functions (melds) drawn from a deck of candidate outputs for nonlinear systems that are static feedback linearizable v…
STL-Based Motion Planning and Uncertainty-Aware Risk Analysis for Human-Robot Collaboration with a Multi-Rotor Aerial Vehicle
Giuseppe Silano, Amr Afifi, Martin Saska +1
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temp…
Multi-robot Aerial Soft Manipulator For Floating Litter Collection
Antonio González-Morgado, Sander Smits, Guillermo Heredia +6
Removing floating litter from water bodies is crucial to preserving aquatic ecosystems and preventing environmental pollution. In this work, we present a multi-robot aerial soft ma…
Unified Feedback Linearization for Nonlinear Systems with Dexterous and Energy-Saving Modes
Mirko Mizzoni, Pieter van Goor, Antonio Franchi
Systems with a high number of inputs compared to the degrees of freedom (e.g. a mobile robot with Mecanum wheels) often have a minimal set of energy-efficient inputs needed to achi…
Input-Output Extension of Underactuated Nonlinear Systems
Mirko Mizzoni, Amr Afifi, Antonio Franchi
This letter proposes a method to integrate auxiliary actuators that enhance the task space capabilities of commercial underactuated systems, leaving the internal certified low leve…
AERIAL-CORE: AI-Powered Aerial Robots for Inspection and Maintenance of Electrical Power Infrastructures
Anibal Ollero, Alejandro Suarez, Christos Papaioannidis +27
Large-scale infrastructures are prone to deterioration due to age, environmental influences, and heavy usage. Ensuring their safety through regular inspections and maintenance is c…