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cs.RO2025
NMPC-based Unified Posture Manipulation and Thrust Vectoring for Agile and Fault-Tolerant Flight of a Morphing Aerial Robot
Shashwat Pandya
This thesis presents a unified control framework for agile and fault-tolerant flight of the Multi-Modal Mobility Morphobot (M4) in aerial mode. The M4 robot is capable of transitio…
cs.RO2025
NMPC-based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery
Adarsh Salagame, Shashwat Pandya, Ioannis Mandralis +3
Multi-rotors face significant risks, as actuator failures at high altitudes can easily result in a crash and the robot's destruction. Therefore, rapid fault recovery in the event o…