3 papers
cs.RO2025
CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads
Viktor Lorentz, Khaled Wahba, Sayantan Auddy +2
Collaborative transportation of cable-suspended payloads by teams of UAVs has the potential to enhance payload capacity, adapt to different payload shapes, and provide built-in com…
cs.RO2025
pc-dbCBS: Kinodynamic Motion Planning of Physically-Coupled Robot Teams
Khaled Wahba, Wolfgang Hönig
Motion planning problems for physically-coupled multi-robot systems in cluttered environments are challenging due to their high dimensionality. Existing methods combining sampling-…
cs.RO2025
Learned Incremental Nonlinear Dynamic Inversion for Quadrotors with and without Slung Payloads
Eckart Cobo-Briesewitz, Khaled Wahba, Wolfgang Hönig
The increasing complexity of multirotor applications demands flight controllers that can accurately account for all forces acting on the vehicle. Conventional controllers model mos…