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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.RO2024
Safe Aerial Manipulator Maneuvering and Force Exertion via Control Barrier Functions
Dimitris Chaikalis, Vinicius Goncalves, Nikolaos Evangeliou +2
This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid…