3 papers
cs.RO2025
Gimballed Rotor Mechanism for Omnidirectional Quadrotors
J. Cristobal, A. Z. Zain Aldeen, M. Izadi +1
This paper presents the design of a gimballed rotor mechanism as a modular and efficient solution for constructing omnidirectional quadrotors. Unlike conventional quadrotors, which…
cs.RO2024
Neural Moving Horizon Estimation: A Systematic Literature Review
Surrayya Mobeen, Jann Cristobal, Shashank Singoji +8
The neural moving horizon estimator (NMHE) is a relatively new and powerful state estimator that combines the strengths of neural networks (NNs) and model-based state estimation te…
cs.RO2024
Nonlinear Model Predictive Control of Tiltrotor Quadrotors with Feasible Control Allocation
Zeinab Shayan, Jann Cristobal, Mohammadreza Izadi +3
This paper presents a new flight control framework for tilt-rotor multirotor uncrewed aerial vehicles (MRUAVs). Tiltrotor designs offer full actuation but introduce complexity in c…