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cs.RO2026
Sensitivity-Based Tube NMPC for Cooperative Aerial Structures Under Parametric Uncertainty
Giuseppe Silano, Quentin Sablé, Marco Tognon +2
This paper presents a sensitivity-based tube Nonlinear Model Predictive Control (NMPC) framework for cooperative aerial chains under bounded parametric uncertainty. We consider a p…
cs.RO2023
Modelling, Analysis and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV
Youssef Aboudorra, Chiara Gabellieri, Ralph Brantjes +2
This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing a…