100 citations · 335 across the 27 of their papers we have counts for
5 papers · 1 filter
An NMPC-ECBF Framework for Dynamic Motion Planning and Execution in vision-based Human-Robot Collaboration
Dianhao Zhang, Mien Van, Pantelis Sopasakis +1
To enable safe and effective human-robot collaboration (HRC) in smart manufacturing, seamless integration of sensing, cognition, and prediction into the robot controller is critica…
Collision avoidance for multiple MAVs using fast centralized NMPC
Björn Lindqvist, Sina Sharif Mansouri, Pantelis Sopasakis +1
This article proposes a novel control architecture using a centralized nonlinear model predictive control (CNMPC) scheme for controlling multiple micro aerial vehicles (MAVs). The…
A Scalable Distributed Collision Avoidance Scheme for Multi-agent UAV systems
Björn Lindqvist, Pantelis Sopasakis, George Nikolakopoulos
In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles(UAVs) based on nonlinear model predictive control (NMPC),where other ag…
Subterranean MAV Navigation based on Nonlinear MPC with Collision Avoidance Constraints
Sina Sharif Mansouri, Christoforos Kanellakis, Emil Fresk +5
Micro Aerial Vehicles (MAVs) navigation in subterranean environments is gaining attention in the field of aerial robotics, however there are still multiple challenges for collision…
Visual Area Coverage with Attitude-Dependent Camera Footprints by Particle Harvesting
Sina Sharif Mansouri, Pantelis Sopasakis, George Georgoulas +2
In aerial visual area coverage missions, the camera footprint changes over time based on the camera position and orientation -- a fact that complicates the whole process of coverag…