28 citations · 88 across the 17 of their papers we have counts for
6 papers · 1 filter
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…
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…
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-…
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…
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…