Related papers: A Hybrid Modelling Approach for Aerial Manipulator…
Effective inclusion of physics-based knowledge into deep neural network models of dynamical systems can greatly improve data efficiency and generalization. Such a-priori knowledge might arise from physical principles (e.g., conservation…
This paper presents, for the first time, the soft planar vertical take-off and landing (Soft-PVTOL) aircraft. This concept captures the soft aerial vehicle's fundamental dynamics with a minimum number of states and inputs but retains the…
Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of…
This paper represents a systematic way for generation of Aaria, a simulated model for serial manipulators for the purpose of kinematic or dynamic analysis with a vast variety of structures based on Simulink SimMechanics. The proposed model…
In this paper we address the control problem of aerial cable suspended load transportation, using multiple Unmanned Aerial Vehicles (UAVs). First, the dynamical model of the coupled system is obtained using the Newton-Euler formalism, for…
This paper presents a simulation framework able of modeling the dynamics of a hanging tether with adjustable length, connecting a UAV to a UGV. The model incorporates the interaction between the UAV, UGV, and a winch, allowing for dynamic…
Obtaining dynamics models is essential for robotics to achieve accurate model-based controllers and simulators for planning. The dynamics models are typically obtained using model specification of the manufacturer or simple numerical…
Expressive motion planning for Aerial Manipulators (AMs) is essential for tackling complex manipulation tasks, yet achieving coupled trajectory planning adaptive to various tasks remains challenging, especially for those requiring…
Two problems of the Standard Model, associated with the introduction of non-gauge interactions and with the introduction of an electromagnetic field as a linear combination of fields on which various gauge groups are implemented, are…
Aerial robotics for transporting suspended payloads as the form of freely-floating manipulator are growing great interest in recent years. However, the force/torque caused by payload and residual dynamics will introduce unmodeled…
A significant barrier preventing model-based methods from achieving real-time and versatile dexterous robotic manipulation is the inherent complexity of multi-contact dynamics. Traditionally formulated as complementarity models,…
Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance…
Accurate motion control in the face of disturbances within complex environments remains a major challenge in robotics. Classical model-based approaches often struggle with nonlinearities and unstructured disturbances, while RL-based methods…
The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of the…
In this paper, we employ the concept of quasi-relative interior to analyze the method of Lagrange multipliers and establish strong Lagrangian duality for nonsmooth convex optimization problems in Hilbert spaces. Then, we generalize the…
We describe a new hybrid framework to model non-thermal spectral signatures from highly energetic particles embedded in a large-scale classical or relativistic MHD flow. Our method makes use of \textit{Lagrangian} particles moving through…
We describe our recent proposal of a path integral formulation of classical Hamiltonian dynamics. Which leads us here to a new attempt at hybrid dynamics, which concerns the direct coupling of classical and quantum mechanical degrees of…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this paper aims to answer the following question: Can a transformation of the generalized coordinates under which the actuators…
A novel modular modeling and control framework based on Lagrangian mechanics is proposed for multibody systems, motivated by the challenges of modular control of systems with closed kinematic chains and by the need for a modeling framework…