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