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