12 papers
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…
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…
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…
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-…
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…