2 papers
cs.RO2026
Receding-Horizon Nullspace Optimization for Actuation-Aware Control Allocation in Omnidirectional UAVs
Riccardo Pretto, Mahmoud Hamandi, Abdullah Mohamed Ali +3
Fully actuated omnidirectional UAVs enable independent control of forces and torques along all six degrees of freedom, broadening the operational envelope for agile flight and aeri…
cs.RO2025
Robotic Shepherding in Cluttered and Unknown Environments using Control Barrier Functions
Mahmoud Hamandi, Farshad Khorrami, Anthony Tzes
This paper introduces a novel control methodology designed to guide a collective of robotic-sheep in a cluttered and unknown environment using robotic-dogs. The dog-agents continuo…