3 papers
cs.RO2026
A Comparative Study of INDI and NDI with Nonlinear Disturbance Observer for Aerial Robotics
Benedetta Rota, Mirko Mizzoni, Amr Afifi +2
This work presents a simulation-based comparative robustness analysis of Incremental Nonlinear Dynamic Inversion (INDI) and Nonlinear Dynamic Inversion augmented with a nonlinear d…
cs.RO2026
Impact-Robust Posture Optimization for Aerial Manipulation
Amr Afifi, Ahmad Gazar, Javier Alonso-Mora +2
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the b…
cs.RO2025
STL-Based Motion Planning and Uncertainty-Aware Risk Analysis for Human-Robot Collaboration with a Multi-Rotor Aerial Vehicle
Giuseppe Silano, Amr Afifi, Martin Saska +1
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temp…