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cs.RO2026
Contact-Aware Incremental Model Predictive Control for an Underactuated Aerial Manipulator
Darwin Liu, Tamas Keviczky, Sihao Sun
We present a robust contact-aware control framework for aerial writing on an underactuated platform. The framework combines nonlinear model predictive control (NMPC) for accurate e…
cs.RO2024
Modular Adaptive Aerial Manipulation under Unknown Dynamic Coupling Forces
Rishabh Dev Yadav, Swati Dantu, Wei Pan +3
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this…
cs.RO2024
DroneDiffusion: Robust Quadrotor Dynamics Learning with Diffusion Models
Avirup Das, Rishabh Dev Yadav, Sihao Sun +3
An inherent fragility of quadrotor systems stems from model inaccuracies and external disturbances. These factors hinder performance and compromise the stability of the system, mak…