20 citations · 21 across the 7 of their papers we have counts for
5 papers · 1 filter
Tactile Reconstruction of Contact Task Frames and Forces for Hybrid Force/Motion Control
Antonio Rapuano, Simone Orelli, Barbara Bazzana +2
Hybrid force/motion control requires knowledge of the interaction force and of a task frame defining the force- and motion-controlled directions. These quantities are usually obtai…
Emergent Underactuation in Fully Actuated Multirotors by Minimizing a Homogeneous Allocation Cost
Antonio Franchi, Barbara Bazzana
Full actuation is commonly valued for independent position and attitude tracking. This work establishes a complementary principle: when only a position trajectory is prescribed, mi…
CAVEAT: Recurrent Multimodal Diffusion Planning for Mapless Aerial Exploration
Steven Visch, Nicolò Botteghi, Antonio Franchi +1
Can exploratory UAV waypoint sequences be generated from multimodal onboard observations and a fixed-dimensional recurrent internal state without maintaining a persistent global ma…
Input Dexterity and Output Negotiation in Feedback-Linearizable Nonlinear Systems
Mirko Mizzoni, Pieter van Goor, Barbara Bazzana +1
We introduce a task-relative taxonomy of actuator inputs for nonlinear systems within the input-output feedback-linearization framework. Given a flat output specifying the task, in…
Autonomous Aerial Non-Destructive Testing: Ultrasound Inspection with a Commercial Quadrotor in an Unstructured Environment
Ruben Veenstra, Barbara Bazzana, Sander Smits +1
This work presents an integrated control and software architecture that enables arguably the first fully autonomous, contact-based non-destructive testing (NDT) using a commercial…