Related papers: Learning-Based Geometric Leader-Follower Control f…
In this paper we present a learning-based tracking controller based on Gaussian processes (GP) for a fault-tolerant hexarotor in a recovery maneuver. In particular, to estimate certain uncertainties that appear in a hexacopter vehicle with…
This paper is focused on tracking control for a rigid body payload, that is connected to an arbitrary number of quadrotor unmanned aerial vehicles via rigid links. A geometric adaptive controller is constructed such that the payload…
Lagrangian systems represent a wide range of robotic systems, including manipulators, wheeled and legged robots, and quadrotors. Inverse dynamics control and feedforward linearization techniques are typically used to convert the complex…
We propose a learning-based trajectory tracking controller for autonomous robotic platforms whose motion can be described kinematically on $\mathrm{SE}(3)$. The controller is formulated in the dual quaternion framework and operates at the…
This work presents an innovative learning-based approach to tackle the tracking control problem of Euler-Lagrange multi-agent systems with partially unknown dynamics operating under switching communication topologies. The approach leverages…
In this paper, we present a learning-based tracking controller based on Gaussian processes (GP) for collision avoidance of multi-agent systems where the agents evolve in the special Euclidean group in the space SE(3). In particular, we use…
This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by…
Learning-based methods are powerful in handling complex scenarios. However, it is still challenging to use learning-based methods under uncertain environments while stability, safety, and real-time performance of the system are desired to…
One major challenge for autonomous attitude takeover control for on-orbit servicing of spacecraft is that an accurate dynamic motion model of the combined vehicles is highly nonlinear, complex and often costly to identify online, which…
This paper presents a nonlinear integrated guidance and control (IGC) approach for flexible leader-follower formation flight of fixed-wing unmanned aerial vehicles (UAVs) while accounting for high-fidelity aerodynamics and thrust dynamics.…
Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
Groups of unmanned aerial vehicles (UAVs) are increasingly utilized in transportation task as the combined strength allows to increase the maximum payload. However, the resulting mechanical coupling of the UAVs impose new challenges in…
Learning-based control methods utilize run-time data from the underlying process to improve the controller performance under model mismatch and unmodeled disturbances. This is beneficial for optimizing industrial processes, where the…
This paper is concerned with learning transferable contact models for aerial manipulation tasks. We investigate a contact-based approach for enabling unmanned aerial vehicles with cable-suspended passive grippers to compute the attach…
In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators…
An important issue in quadcopter control is that an accurate dynamic model of the system is nonlinear, complex, and costly to obtain. This limits achievable control performance in practice. Gaussian process (GP) based estimation is an…
A generic data-assisted control architecture within the port-Hamiltonian framework is proposed, introducing a physically meaningful observable that links conservative dynamics to all actuation, dissipation, and disturbance channels. A…
Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspection. This comes at the price of an increase in model…