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Considering the widespread integration of aerial robots in inspection, search and rescue, and monitoring tasks, there is a growing demand to design intuitive human-drone interfaces. These aim to streamline and enhance the user interaction…
Manipulator dynamics, external forces and moments raise issues in stability and efficient control during aerial manipulation. Additionally, multirotor Micro Aerial Vehicles impose stringent limits on payload, actuation and system states. In…
In this work we present the optimization-based design and control of a fully-actuated omnidirectional hexarotor. The tilt angles of the propellers are designed by maximizing the control wrench applied by the propellers. This maximizes (a)…
This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV). Based on simplified aerodynamics and first-principles, a…
Autonomous indoor navigation of UAVs presents numerous challenges, primarily due to the limited precision of GPS in enclosed environments. Additionally, UAVs' limited capacity to carry heavy or power-intensive sensors, such as overheight…
For the realization of the future urban air mobility, reliable information exchange based on robust and efficient communication between all airspace participants will be one of the key factors to ensure safe operations. Especially in dense…
This paper introduces Borinot, an open-source flying robotic platform designed to perform hybrid agile locomotion and manipulation. This platform features a compact and powerful hexarotor that can be outfitted with torque-actuated…
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…
This paper introduces Borinot, an open-source aerial robotic platform designed to conduct research on hybrid agile locomotion and manipulation using flight and contacts. This platform features an agile and powerful hexarotor that can be…
Despite rapid progress in autonomous robotics, executing complex or long-horizon tasks remains a fundamental challenge. Most current approaches follow an open-loop paradigm with limited reasoning and no feedback, resulting in poor…
Morphing multirotors, such as the Foldable Drone , can increase the versatility of drones employing in-flight-adaptive-morphology. To further increase precision in their tasks, recent works have investigated stable flight in asymmetric…
In this paper, we present a novel passive single Degree-of-Freedom (DoF) manipulator design and its integration on an autonomous drone to capture a moving target. The end-effector is designed to be passive, to disengage the moving target…
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position…
Traditional vertical take-off and landing (VTOL) aircraft can not achieve optimal efficiency for various payload weights and has limited mobility due to its under-actuation. With the thrust-vectoring mechanism, the proposed modular team UAV…
Tilt rotor aircraft combine the benefits of both helicopters and fixed wing aircraft, this makes them popular for a variety of applications, including Search and Rescue and VVIP transport. However, due to the multiple flight modes,…
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…
With the rapid advance of sophisticated control algorithms, the capabilities of drones to stabilise, fly and manoeuvre autonomously have dramatically improved, enabling us to pay greater attention to entire missions and the interaction of a…
The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties…