This article studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating with each other. In particular, this article sheds light on the impact of the uncertain knowledge of the model...
01a Articolo in rivista
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In this work we propose an uncertainty-aware controller for the Fly-crane system, a statically rigid cable-suspended aerial manipulator using the minimum number of aerial robots and cables. The force closure property of the Fly-crane makes it ideal for applications where high precision is required...
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In this letter we present an optimization-based method for controlling aerial manipulators in physical contact with the environment. The multi-task control problem, which includes hybrid force-motion tasks, energetic tasks, and position/postural tasks, is recast as a quadratic programming problem...
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In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference trajectory planning and tracking problems. This work brings...
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Cooperative manipulation is a basic skill in groups of humans, animals and in many robotic applications. Besides being an interesting challenge, communication-less approaches have been applied to groups of robots in order to achieve higher scalability and simpler hardware and software design. We...
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We apply input allocation to a redundantly actuated platform driven by tilting aerodynamic propulsion units: the ROtor graSPing Omnidirectional (ROSPO). This platform represents a novel testbed for redundancy allocation designs in propeller-driven platforms. The control solution is based on a...
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We consider the hovering control problem for a class of multi-rotor aerial platforms with generically oriented propellers, characterized by intrinsically coupled translational and rotational dynamics. In doing this, we first discuss some assumptions guaranteeing the rejection of generic disturbance...
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Conversational agents are systems with great potential to enhance human-computer interaction in industrial settings. Although the number of applications of conversational agents in many fields is growing, there is no shared view of the elements to design and implement for chatbots in the industrial...
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The accessibility of advanced Artificial Intelligence-based tools, like ChatGPT, has made Large Language Models (LLMs) readily available to students. These LLMs can generate original written content to assist students in their academic assessments. With the rapid adoption of LLMs, exemplified by...
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The safe and efficient application of collaborative robots requires an understanding of actual work practices transformation, emerging from the adoption of new technological instruments. Functional systems-thinking is largely absent in literature about collaborative robot applications. In this...