282 citations · 741 across the 14 of their papers we have counts for
15 papers
Model Predictive Control for Micro Aerial Vehicles: A Survey
Huan Nguyen, Mina Kamel, Kostas Alexis +1
This paper presents a review of the design and application of model predictive control strategies for Micro Aerial Vehicles and specifically multirotor configurations such as quadr…
Learning dynamics for improving control of overactuated flying systems
Weixuan Zhang, Maximilian Brunner, Lionel Ott +3
Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspe…
LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops
Victor Klemm, Alessandro Morra, Lionel Gulich +5
We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of…
Design and optimal control of a tiltrotor micro aerial vehicle for efficient omnidirectional flight
Mike Allenspach, Karen Bodie, Maximilian Brunner +5
Omnidirectional micro aerial vehicles are a growing field of research, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete…
Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs
Karen Bodie, Zachary Taylor, Mina Kamel +1
Omnidirectional MAVs are a growing field, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and h…
Voliro: An Omnidirectional Hexacopter With Tiltable Rotors
Mina Kamel, Sebastian Verling, Omar Elkhatib +5
Extending the maneuverability of unmanned areal vehicles promises to yield a considerable increase in the areas in which these systems can be used. Some such applications are the p…