1 citations · 2 across the 6 of their papers we have counts for
6 papers
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…
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-…
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…
Kinodynamic Motion Planning for a Team of Multirotors Transporting a Cable-Suspended Payload in Cluttered Environments
Khaled Wahba, Joaquim Ortiz-Haro, Marc Toussaint +1
We propose a motion planner for cable-driven payload transportation using multiple unmanned aerial vehicles (UAVs) in an environment cluttered with obstacles. Our planner is kinody…
Kidnapping Deep Learning-based Multirotors using Optimized Flying Adversarial Patches
Pia Hanfeld, Khaled Wahba, Marina M. -C. Höhne +2
Autonomous flying robots, such as multirotors, often rely on deep learning models that make predictions based on a camera image, e.g. for pose estimation. These models can predict…
Efficient Optimization-based Cable Force Allocation for Geometric Control of a Multirotor Team Transporting a Payload
Khaled Wahba, Wolfgang Hönig
We consider transporting a heavy payload that is attached to multiple multirotors. The current state-of-the-art controllers either do not avoid inter-robot collision at all, leadin…