28 citations · 88 across the 17 of their papers we have counts for
19 papers
Nested Power Models for Multirotor Propulsion: From Aerodynamic Drag to Electrical Losses
Antonio Franchi, Aaron Saini, Ahmed Ali +1
Speed-only aerodynamic power models for multirotor propulsion cannot represent acceleration-dependent effects. This work develops a nested sequence of propulsion-power models that…
Aerial Non-Stop Trajectories Preserving the Equilibrium of Loads Suspended by Variable-Length Cables
Antonio Franchi, Alberto Landi, Chiara Gabellieri
This work studies equilibrium-preserving non-stop trajectories of aerial carriers connected to rigid loads by variable-length cables. Internal-force motions vary the cable directio…
Exact Thrust-Reversal Limits of Bidirectional Propellers under Bounded Motor Inputs
Ahmed Ali, Chiara Gabellieri, Antonio Franchi
Bidirectional propellers are often treated as signed thrust sources, but their thrust is a signed-quadratic function of rotor speed.Thus, thrust reversal necessarily occurs through…
A Morphing-Designed Hexarotor Prototype combining Practical Resilience and Efficiency
Murat Bronz, Mahmoud Hamandi, Elgiz Baskaya +2
This work demonstrates experimentally the existence of a hexarotor prototype, termed Opti-Hexa, that simultaneously achieves practical resilience to single-propeller failures and e…
Lie Group Formulation of Recursive Dynamics Algorithms of Higher Order for Floating-Base Robots
Ahmed Ali, Chiara Gabellieri, Antonio Franchi
In this paper, we describe procedures for computing higher-order time derivatives of the Lie-group Newton-Euler, Articulated-Body Inertia, and hybrid dynamics algorithms for floati…
The Geometry of Coordinated Trajectories for Non-stop Flying Carriers Holding a Cable-Suspended Load
Pieter van Goor, Chiara Gabellieri, Antonio Franchi
This work considers the problem of using multiple aerial carriers to hold a cable-suspended load while remaining in periodic motion at all times. Using a novel differential geometr…
Nonlinear Predictive Control of the Continuum and Hybrid Dynamics of a Suspended Deformable Cable for Aerial Pick and Place
Antonio Rapuano, Yaolei Shen, Federico Califano +2
This paper presents a framework for aerial manipulation of an extensible cable that combines a high-fidelity model based on partial differential equations (PDEs) with a reduced-ord…
Geometric Inverse Flight Dynamics on SO(3) and Application to Tethered Fixed-Wing Aircraft
Antonio Franchi, Chiara Gabellieri
We present a robotics-oriented, coordinate-free formulation of inverse flight dynamics for fixed-wing aircraft on SO(3). Translational force balance is written in the world frame a…
The PenduMAV: A Six-Input Omnidirectional MAV without Internal Forces - Design, Dynamics, and SE(3) Control
Ahmed Ali, Quentin Sablé, Chiara Gabellieri +1
We introduce the PenduMAV, an exactly actuated (6-input) omnidirectional multirotor that structurally eliminates internal forces at equilibria. The vehicle features one actively-ti…
Trajectory control of a suspended load with non-stopping flying carriers
Sofia Girardello, Giulia Michieletto, Angelo Cenedese +2
This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-…
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…
Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs
Chiara Gabellieri, Lars Teeuwen, Yaolei Shen +1
This work considers a large class of systems composed of multiple quadrotors manipulating deformable and extensible cables. The cable is described via a discretized representation,…
Cyclic Nullspace Coordination: Perpetual Flight of Aerial Carriers for Static Suspension
Chiara Gabellieri, Yaolei Shen, Martina Paolucci +1
This work demonstrates that the non-stop flights of three or more carriers are compatible with holding a constant pose of a cable-suspended load. It also presents an algorithm for…
A Control Theoretic Study on Omnidirectional MAVs with Minimum Number of Actuators and No Internal Forces at Any Orientation
Ahmed Ali, Chiara Gabellieri, Antonio Franchi
We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers…
Aerial Robots Carrying Flexible Cables: Dynamic Shape Optimal Control via Spectral Method Model
Yaolei Shen, Antonio Franchi, Chiara Gabellieri
In this work, we present a model-based optimal boundary control design for an aerial robotic system composed of a quadrotor carrying a flexible cable. The whole system is modeled b…
On the Existence of Static Equilibria of a Cable-Suspended Load with Non-stopping Flying Carriers
Chiara Gabellieri, Antonio Franchi
This work answers positively the question whether non-stop flights are possible for maintaining constant the pose of cable-suspended objects. Such a counterintuitive answer paves t…
Survey of Simulators for Aerial Robots: An Overview and In-Depth Systematic Comparisons
Cora A. Dimmig, Giuseppe Silano, Kimberly McGuire +4
Uncrewed Aerial Vehicle (UAV) research faces challenges with safety, scalability, costs, and ecological impact when conducting hardware testing. High-fidelity simulators offer a vi…
Modelling, Analysis and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV
Youssef Aboudorra, Chiara Gabellieri, Ralph Brantjes +2
This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing a…
Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System subject to Parameter Uncertainty
Chiara Gabellieri, Marco Tognon, Dario Sanalitro +1
This work studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating…