4 papers
PolyFly: Polytopic Optimal Planning for Collision-Free Cable-Suspended Aerial Payload Transportation
Mrunal Sarvaiya, Guanrui Li, Giuseppe Loianno
Aerial transportation robots using suspended cables have emerged as versatile platforms for disaster response and rescue operations. To maximize the capabilities of these systems,…
ES-HPC-MPC: Exponentially Stable Hybrid Perception Constrained MPC for Quadrotor with Suspended Payloads
Luis F. Recalde, Mrunal Sarvaiya, Giuseppe Loianno +1
Aerial transportation using quadrotors with cable-suspended payloads holds great potential for applications in disaster response, logistics, and infrastructure maintenance. However…
Optimal Trajectory Planning for Cooperative Manipulation with Multiple Quadrotors Using Control Barrier Functions
Arpan Pallar, Guanrui Li, Mrunal Sarvaiya +1
In this paper, we present a novel trajectory planning algorithm for cooperative manipulation with multiple quadrotors using control barrier functions (CBFs). Our approach addresses…
HPA-MPC: Hybrid Perception-Aware Nonlinear Model Predictive Control for Quadrotors with Suspended Loads
Mrunal Sarvaiya, Guanrui Li, Giuseppe Loianno
Quadrotors equipped with cable-suspended loads represent a versatile, low-cost, and energy efficient solution for aerial transportation, construction, and manipulation tasks. Howev…