6 papers
Robust Variable-Horizon MPC for Landing a Multirotor UAV on a Moving Platform
Sander Doodeman, Niels Berkers, Paula Chanfreut +2
Landing a multirotor Unmanned Aerial Vehicle (UAV) on a moving platform is challenging because a UAV is underactuated and the desired landing state is generally a non-equilibrium s…
Onboard Wind-Preview Model Predictive Control Using Pitot-Static Sensing for Multirotor UAVs
Bas Meere, Eline Wisse, Laurens Vousten +4
Effective wind gust rejection and stable hovering are critical for the outdoor operation of autonomous drones. However, existing gust rejection methods are primarily reactive, infe…
Visualizing Impedance Control in Augmented Reality for Teleoperation: Design and User Evaluation
Gijs van den Brandt, Femke van Beek, Elena Torta
Teleoperation for contact-rich manipulation remains challenging, especially when using low-cost, motion-only interfaces that provide no haptic feedback. Virtual reality controllers…
Zero Dynamics Stability of a Multirotor UAV with a Heavy Payload
Sander Doodeman, Paula Chanfreut Palacio, Elena Torta +1
This paper studies the zero dynamics stability of a multirotor Unmanned Aerial Vehicle (UAV) carrying a rigidly attached heavy payload. In particular, we focus on controlling the p…
Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points
Lotte Rassaerts, Eke Suichies, Bram van de Vrande +4
This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls w…
A Bayesian optimization framework for the automatic tuning of MPC-based shared controllers
Anne van der Horst, Bas Meere, Dinesh Krishnamoorthy +5
This paper presents a Bayesian optimization framework for the automatic tuning of shared controllers which are defined as a Model Predictive Control (MPC) problem. The proposed fra…