Related papers: Learning Variable Impedance Control for Aerial Sli…

In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…

Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…

This paper investigates an adaptive sliding-mode control for an integrated UAV autopilot and guidance system. First, a two-dimensional mathematical model of the system is derived by considering the incorporated lateral dynamics and relative…

Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…

This paper presents and validates active interaction force control and planning for fully actuated and omnidirectional aerial manipulation platforms, with the goal of aerial contact inspection in unstructured environments. We present a…

Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…

The increasing demand for accelerated scientific discovery, driven by global challenges, highlights the need for advanced AI-driven robotics. Deploying robotic chemists in human-centric labs is key for the next horizon of autonomous…

Reinforcement learning algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robotic problems, especially those involving contact…

Satellite dynamics in unknown environments are inherently uncertain due to factors such as varying gravitational fields, atmospheric drag, and unpredictable interactions with space debris or other celestial bodies. Traditional sliding mode…

This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…

This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection. The fully actuated tilt-rotor aerial system is equipped…

Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and environment constraints is crucial for safety and performance.…

Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial…

This work developed a meta-learning approach that adapts the control policy on the fly to different changing conditions for robust locomotion. The proposed method constantly updates the interaction model, samples feasible sequences of…

Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and rotor dynamics. While model-based controllers can achieve high…

Navigation problems under unknown varying conditions are among the most important and well-studied problems in the control field. Classic model-based adaptive control methods can be applied only when a convenient model of the plant or…

Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…

This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…

Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating conditions, the model should…

This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexure-linked biaxial gantry system. For such high-precision contouring tasks, it is the typical situation that the involved…