20 citations · 37 across the 22 of their papers we have counts for
17 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…
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…
Aerial Manipulation: Contact, Medium Coupling, and the Geometry of Readiness
Antonio Franchi
Aerial robots are increasingly moving from remote observation toward physical interaction with objects, surfaces, structures, loads, and surrounding flows. This review argues that…
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…
Variable Aerodynamic Damping Actuation via Co-Contraction: A Structural Analogy with Variable Stiffness Actuation
Antonio Franchi
This work identifies a passive aerodynamic damping effect induced by co-contraction in antagonistic redundant propulsion. Complementing prior work on aerodynamic promptness, which…
Sensitivity-Based Tube NMPC for Cooperative Aerial Structures Under Parametric Uncertainty
Giuseppe Silano, Quentin Sablé, Marco Tognon +2
This paper presents a sensitivity-based tube Nonlinear Model Predictive Control (NMPC) framework for cooperative aerial chains under bounded parametric uncertainty. We consider a p…
Drag-Aware Aerodynamic Manipulability for Torque-Limited Redundant Multirotors: Aerodynamic Promptness based on the Symmetric Acceleration Capacity
Antonio Franchi
Aerodynamic promptness quantifies how rotor-speed variations generate multirotor wrench variations, but its Euclidean formulation assigns the same local cost to a given rotor accel…
Communications-Aware NMPC for Multi-Rotor Aerial Relay Networks Under Jamming Interference
Giuseppe Silano, Daniel Bonilla Licea, Davide Liuzza +2
Multi-Rotor Aerial Vehicles (MRAVs) are increasingly used in communication-dependent missions where connectivity loss directly compromises task execution. Existing anti-jamming str…
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…
Muscle Coactivation in the Sky: Geometry and Pareto Optimality of Energy vs. Aerodynamic Promptness and Multirotors as Variable Stiffness Actuators
Antonio Franchi
In robotics and biomechanics, trading metabolic cost for kinematic readiness is a well-established principle. This paper formalizes this concept for aerial multirotors through the…
Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs
Chiara Gabellieri, Lars Teeuwen, Yaolei Shen +1
This work considers a large class of systems composed of multiple quadrotors manipulating deformable and extensible cables. The cable is described via a discretized representation,…
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…
Agile and Cooperative Aerial Manipulation of a Cable-Suspended Load
Sihao Sun, Xuerui Wang, Dario Sanalitro +3
Quadrotors can carry slung loads to hard-to-reach locations at high speed. Since a single quadrotor has limited payload capacities, using a team of quadrotors to collaboratively ma…
Aerial Robots Carrying Flexible Cables: Dynamic Shape Optimal Control via Spectral Method Model
Yaolei Shen, Antonio Franchi, Chiara Gabellieri
In this work, we present a model-based optimal boundary control design for an aerial robotic system composed of a quadrotor carrying a flexible cable. The whole system is modeled b…
On the Existence of Static Equilibria of a Cable-Suspended Load with Non-stopping Flying Carriers
Chiara Gabellieri, Antonio Franchi
This work answers positively the question whether non-stop flights are possible for maintaining constant the pose of cable-suspended objects. Such a counterintuitive answer paves t…