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cs.RO2026
Feasible Force Set Shaping for a Payload-Carrying Platform Consisting of Tiltable Multiple UAVs Connected Via Passive Hinge Joints
Takumi Ito, Hayato Kawashima, Riku Funada +1
This paper presents a method for shaping the feasible force set of a payload-carrying platform composed of multiple Unmanned Aerial Vehicles (UAVs) and proposes a control law that…
cs.RO2025
Task Hierarchical Control via Null-Space Projection and Path Integral Approach
Apurva Patil, Riku Funada, Takashi Tanaka +1
This paper addresses the problem of hierarchical task control, where a robotic system must perform multiple subtasks with varying levels of priority. A commonly used approach for h…
cs.RO2025
Energy-Aware Task Allocation for Teams of Multi-mode Robots
Takumi Ito, Riku Funada, Mitsuji Sampei +1
This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to…