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