2 papers
cs.RO2026
Residual Wrench Certification and Margin-Aware Control Synthesis for Aerial Physical Interaction
Abhimanyu Khadga, Abhinav Sinha, Shashi Ranjan Kumar
We develop a task-relative framework for certifying residual wrench authority after hover and contact loading in multirotors with bounded actuators. Using convex geometry, we deriv…
cs.RO2026
Contact-Persistent Full Actuation for Aerial Physical Interaction
Abhimanyu Khadga, Abhinav Sinha, Shashi Ranjan Kumar
Fully actuated unmanned aerial vehicles (UAVs) are usually certified through rank conditions on a control-allocation matrix or through free-flight tracking performance. For aerial…