4 papers · 1 filter
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…
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…
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…
AERIAL-CORE: AI-Powered Aerial Robots for Inspection and Maintenance of Electrical Power Infrastructures
Anibal Ollero, Alejandro Suarez, Christos Papaioannidis +27
Large-scale infrastructures are prone to deterioration due to age, environmental influences, and heavy usage. Ensuring their safety through regular inspections and maintenance is c…