Related papers: Geometric Tracking Control of Omnidirectional Mult…
This paper presents a learning-based tracking control framework for cooperative transport of a rigid payload by multiple aerial manipulators under rigid grasp constraints. A unified geometric model is developed, yielding a coupled…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
High-resolution radar sensors are able to resolve multiple detections per object and therefore provide valuable information for vehicle environment perception. For instance, multiple detections allow to infer the size of an object or to…
Terrestrial and aerial bimodal vehicles have gained widespread attention due to their cross-domain maneuverability. Nevertheless, their bimodal dynamics significantly increase the complexity of motion planning and control, thus hindering…
Path tracking (PT) controllers capable of replicating race driving techniques, such as drifting beyond the limits of handling, have the potential of enhancing active safety in critical conditions. This paper presents a nonlinear model…
Unmanned aerospace vehicles usually carry sensors (i.e., electro-optical and/or infrared imaging cameras) as their primary payload. These sensors are used for image processing, target tracking, surveillance, mapping, and providing…
Multirotors can be effectively applied to various tasks, such as transportation, investigation, exploration, and lifesaving, depending on the type of payload. However, due to the nature of multirotors, the payload loaded on the multirotor…
Dynamic legged locomotion is a challenging topic because of the lack of established control schemes which can handle aerial phases, short stance times, and high-speed leg swings. In this paper, we propose a controller combining whole-body…
In this paper, we propose a novel trajectory tracking controller for fully-actuated mechanical port-Hamiltonian (pH) systems, which is based on recent advances in contraction-based control theory. Our proposed controller renders a desired…
Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these platforms a perfect candidate for scenarios such as search and…
When designing path tracking controllers for car-like vehicles, two main aspects are the tracking performance and the characteristics of the actuation signal. Our work bases on an existing variable structure controller that was designed…
A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy…
This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…
This paper presents the design of a 6-DOF all-terrain micro aerial vehicle and two control strategies for multimodal flight, which are experimentally validated. The micro aerial vehicle is propelled by four motors and controlled by a single…
Optimal control (OC) using inverse dynamics provides numerical benefits such as coarse optimization, cheaper computation of derivatives, and a high convergence rate. However, to take advantage of these benefits in model predictive control…
This work develops a unified optimal control framework for a Quadrotor Biplane tailsitter UAV capable of operating seamlessly across hover, transition, and cruise flight regimes. Although the tailsitter configuration enables mechanically…
Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…
This paper presents an aggressiveness-aware control framework for quadrotor UAVs that integrates learning-based oracles to mitigate the effects of unknown disturbances. Starting from a nominal tracking controller on $\mathrm{SE}(3)$,…
This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…
Manipulation and grasping with unmanned aerial vehicles (UAVs) currently require accurate positioning and are often executed at reduced speed to ensure successful grasps. This is due to the fact that typical UAVs can only accommodate rigid…