2 papers
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…
eess.SY2026
The PenduMAV: A Six-Input Omnidirectional MAV without Internal Forces - Design, Dynamics, and SE(3) Control
Ahmed Ali, Chiara Gabellieri, Quentin Sablé +1
We introduce the PenduMAV, an exactly actuated (6-input) omnidirectional multirotor that structurally eliminates internal forces at equilibria. The vehicle features one actively-ti…