2 citations · 2 across the 4 of their papers we have counts for
4 papers
Exact Thrust-Reversal Limits of Bidirectional Propellers under Bounded Motor Inputs
Ahmed Ali, Chiara Gabellieri, Antonio Franchi
Bidirectional propellers are often treated as signed thrust sources, but their thrust is a signed-quadratic function of rotor speed.Thus, thrust reversal necessarily occurs through…
Lie Group Formulation of Recursive Dynamics Algorithms of Higher Order for Floating-Base Robots
Ahmed Ali, Chiara Gabellieri, Antonio Franchi
In this paper, we describe procedures for computing higher-order time derivatives of the Lie-group Newton-Euler, Articulated-Body Inertia, and hybrid dynamics algorithms for floati…
The PenduMAV: A Six-Input Omnidirectional MAV without Internal Forces - Design, Dynamics, and SE(3) Control
Ahmed Ali, Quentin Sablé, Chiara Gabellieri +1
We introduce the PenduMAV, an exactly actuated (6-input) omnidirectional multirotor that structurally eliminates internal forces at equilibria. The vehicle features one actively-ti…
A Control Theoretic Study on Omnidirectional MAVs with Minimum Number of Actuators and No Internal Forces at Any Orientation
Ahmed Ali, Chiara Gabellieri, Antonio Franchi
We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers…