8 papers
Multi-Robot Bearing-only Pose Estimation via Angle Rigidity
J. Francisco Presenza, Leonardo J. Colombo, Ignacio Mas +1
This letter proposes a novel distributed bearing-based pose estimator for time-varying multi-robot systems. The method uses angles computed from body-frame bearings to estimate the…
Angle-based Localization and Rigidity Maintenance Control for Multi-Robot Networks
J. Francisco Presenza, Leonardo J. Colombo, Juan I. Giribet +1
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing r…
Virtual Constraint for a Quadrotor UAV Enforcing a Body-Axis Pointing Direction
Alexandre Anahory Simoes, Leonardo Colombo, Juan Giribet +1
We propose a geometric control framework on for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded throu…
Observer-Based Estimation and Hydrostatic Inertia Modeling for Cooperative Transport of Variable-Inertia Loads with Quadrotors
Jacob Goodman, Leonardo Colombo, Juan Giribet
We address load-parameter estimation in cooperative aerial transport with time-varying mass and inertia, as in fluid-carrying payloads. Using an intrinsic manifold model of the mul…
Aggressiveness-Aware Learning-based Control of Quadrotor UAVs with Safety Guarantees
Leonardo Colombo, Thomas Beckers, Juan Giribet
This paper presents an aggressiveness-aware control framework for quadrotor UAVs that integrates learning-based oracles to mitigate the effects of unknown disturbances. Starting fr…
Dual-quaternion learning control for autonomous vehicle trajectory tracking with safety guarantees
Omayra Yago Nieto, Alexandre Anahory Simoes, Juan I. Giribet +1
We propose a learning-based trajectory tracking controller for autonomous robotic platforms whose motion can be described kinematically on . The controller is formu…