3 papers
cs.RO2026
Cyclic Nullspace Coordination: Perpetual Flight of Aerial Carriers for Static Suspension
Chiara Gabellieri, Yaolei Shen, Martina Paolucci +1
This work demonstrates that the non-stop flights of three or more carriers are compatible with holding a constant pose of a cable-suspended load. It also presents an algorithm for…
cs.RO2026
Nonlinear Predictive Control of the Continuum and Hybrid Dynamics of a Suspended Deformable Cable for Aerial Pick and Place
Antonio Rapuano, Yaolei Shen, Federico Califano +2
This paper presents a framework for aerial manipulation of an extensible cable that combines a high-fidelity model based on partial differential equations (PDEs) with a reduced-ord…
cs.RO2025
Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs
Chiara Gabellieri, Lars Teeuwen, Yaolei Shen +1
This work considers a large class of systems composed of multiple quadrotors manipulating deformable and extensible cables. The cable is described via a discretized representation,…