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06/16/2023
A Signal Temporal Logic Planner for Ergonomic Human-Robot Collaboration
This paper proposes a method for designing human-robot collaboration tas...
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06/04/2023
Ergonomic Collaboration between Humans and Robots: An Energy-Aware Signal Temporal Logic Perspective
This paper presents a method for designing energy-aware collaboration ta...
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05/26/2023
Modelling, Analysis and Control of OmniMorph:an Omnidirectional Morphing Multi-rotor UAV
We present the design, modelling, and control of a novel morphing multi-...
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03/03/2023
EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems
This paper proposes a Nonlinear Model-Predictive Control (NMPC) method c...
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01/20/2023
Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load using Multiple UAVs
In this work, we propose a centralized control method based on nonlinear...
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07/12/2022
A Dynamic Programming Framework for Optimal Planning of Redundant Robots Along Prescribed Paths With Kineto-Dynamic Constraints
Off-line optimal planning of trajectories for redundant robots along pre...
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12/02/2021
Control of over-redundant cooperative manipulation via sampled communication
In this work we consider the problem of mobile robots that need to manip...
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11/30/2021
Coordinated Multi-Robot Trajectory Tracking over Sampled Communication
In this paper, we propose an inverse-kinematics controller for a class o...
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04/14/2020
FAST-Hex – A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation
We present FAST-Hex, a micro aerial hexarotor platform that allows to se...
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11/19/2019
Nonlinear Model Predictive Control with Actuator Constraints for Multi-Rotor Aerial Vehicles
In this paper we propose, test, and validate an online Nonlinear Model P...
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03/06/2019
Development of SAM: cable-Suspended Aerial Manipulator
High risk of a collision between rotor blades and the obstacles in a com...
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12/06/2017