10 papers
VBT-MPC: Vision-Based Tactile MPC for Contour Following
Edison Velasco-Sanchez, Luis F. Recalde, Guanrui Li +1
Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking…
PolyFly: Polytopic Optimal Planning for Collision-Free Cable-Suspended Aerial Payload Transportation
Mrunal Sarvaiya, Guanrui Li, Giuseppe Loianno
Aerial transportation robots using suspended cables have emerged as versatile platforms for disaster response and rescue operations. To maximize the capabilities of these systems,…
ES-HPC-MPC: Exponentially Stable Hybrid Perception Constrained MPC for Quadrotor with Suspended Payloads
Luis F. Recalde, Mrunal Sarvaiya, Giuseppe Loianno +1
Aerial transportation using quadrotors with cable-suspended payloads holds great potential for applications in disaster response, logistics, and infrastructure maintenance. However…
DQ-NMPC: Dual-Quaternion NMPC for Quadrotor Flight
Luis F. Recalde, Dhruv Agrawal, Jon Arrizabalaga +1
MAVs have great potential to assist humans in complex tasks, with applications ranging from logistics to emergency response. Their agility makes them ideal for operations in comple…
Trajectory Planning Using Safe Ellipsoidal Corridors as Projections of Orthogonal Trust Regions
Akshay Jaitly, Jon Arrizabalaga, Guanrui Li
Planning collision free trajectories in complex environments remains a core challenge in robotics. Existing corridor based planners which rely on decomposition of the free space in…
Intuitive Human-Drone Collaborative Navigation in Unknown Environments through Mixed Reality
Sanket A. Salunkhe, Pranav Nedunghat, Luca Morando +3
Considering the widespread integration of aerial robots in inspection, search and rescue, and monitoring tasks, there is a growing demand to design intuitive human-drone interfaces…