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name="abstracts" type="radio" value="hide"> <label for="abstracts-1">Hide abstracts</label></li></ul> </div> <div class="box field is-grouped is-grouped-multiline level-item"> <div class="control"> <span class="select is-small"> <select id="size" name="size"><option value="25">25</option><option selected value="50">50</option><option value="100">100</option><option value="200">200</option></select> </span> <label for="size">results per page</label>. </div> <div class="control"> <label for="order">Sort results by</label> <span class="select is-small"> <select id="order" name="order"><option selected value="-announced_date_first">Announcement date (newest first)</option><option value="announced_date_first">Announcement date (oldest first)</option><option value="-submitted_date">Submission date (newest first)</option><option value="submitted_date">Submission date (oldest first)</option><option value="">Relevance</option></select> </span> </div> <div class="control"> <button class="button is-small is-link">Go</button> </div> </div> </form> </div> </div> <ol class="breathe-horizontal" start="1"> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2501.18802">arXiv:2501.18802</a> <span> [<a href="https://arxiv.org/pdf/2501.18802">pdf</a>, <a href="https://arxiv.org/format/2501.18802">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Systems and Control">eess.SY</span> </div> </div> <p class="title is-5 mathjax"> Agile and Cooperative Aerial Manipulation of a Cable-Suspended Load </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Sun%2C+S">Sihao Sun</a>, <a href="/search/cs?searchtype=author&query=Wang%2C+X">Xuerui Wang</a>, <a href="/search/cs?searchtype=author&query=Sanalitro%2C+D">Dario Sanalitro</a>, <a href="/search/cs?searchtype=author&query=Franchi%2C+A">Antonio Franchi</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a>, <a href="/search/cs?searchtype=author&query=Alonso-Mora%2C+J">Javier Alonso-Mora</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2501.18802v1-abstract-short" style="display: inline;"> Quadrotors can carry slung loads to hard-to-reach locations at high speed. Since a single quadrotor has limited payload capacities, using a team of quadrotors to collaboratively manipulate a heavy object is a scalable and promising solution. However, existing control algorithms for multi-lifting systems only enable low-speed and low-acceleration operations due to the complex dynamic coupling betwe… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2501.18802v1-abstract-full').style.display = 'inline'; document.getElementById('2501.18802v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2501.18802v1-abstract-full" style="display: none;"> Quadrotors can carry slung loads to hard-to-reach locations at high speed. Since a single quadrotor has limited payload capacities, using a team of quadrotors to collaboratively manipulate a heavy object is a scalable and promising solution. However, existing control algorithms for multi-lifting systems only enable low-speed and low-acceleration operations due to the complex dynamic coupling between quadrotors and the load, limiting their use in time-critical missions such as search and rescue. In this work, we present a solution to significantly enhance the agility of cable-suspended multi-lifting systems. Unlike traditional cascaded solutions, we introduce a trajectory-based framework that solves the whole-body kinodynamic motion planning problem online, accounting for the dynamic coupling effects and constraints between the quadrotors and the load. The planned trajectory is provided to the quadrotors as a reference in a receding-horizon fashion and is tracked by an onboard controller that observes and compensates for the cable tension. Real-world experiments demonstrate that our framework can achieve at least eight times greater acceleration than state-of-the-art methods to follow agile trajectories. Our method can even perform complex maneuvers such as flying through narrow passages at high speed. Additionally, it exhibits high robustness against load uncertainties and does not require adding any sensors to the load, demonstrating strong practicality. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2501.18802v1-abstract-full').style.display = 'none'; document.getElementById('2501.18802v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 30 January, 2025; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> January 2025. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Comments:</span> <span class="has-text-grey-dark mathjax">38 pages, 11 figures</span> </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2410.15398">arXiv:2410.15398</a> <span> [<a href="https://arxiv.org/pdf/2410.15398">pdf</a>, <a href="https://arxiv.org/format/2410.15398">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> </div> </div> <p class="title is-5 mathjax"> Evaluation of Human-Robot Interfaces based on 2D/3D Visual and Haptic Feedback for Aerial Manipulation </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Mellet%2C+J">Julien Mellet</a>, <a href="/search/cs?searchtype=author&query=Allenspach%2C+M">Mike Allenspach</a>, <a href="/search/cs?searchtype=author&query=Cuniato%2C+E">Eugenio Cuniato</a>, <a href="/search/cs?searchtype=author&query=Pacchierotti%2C+C">Claudio Pacchierotti</a>, <a href="/search/cs?searchtype=author&query=Siegwart%2C+R">Roland Siegwart</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2410.15398v1-abstract-short" style="display: inline;"> Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance. While the pilot's experience can often compensate for this reduced flow of information, providing richer feedback is expected to reduce the cognitive workload an… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2410.15398v1-abstract-full').style.display = 'inline'; document.getElementById('2410.15398v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2410.15398v1-abstract-full" style="display: none;"> Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance. While the pilot's experience can often compensate for this reduced flow of information, providing richer feedback is expected to reduce the cognitive workload and offer a more intuitive experience overall. This work aims to understand the significance of providing additional pieces of information during aerial telemanipulation, namely (i) 3D immersive visual feedback about the robot's surroundings through mixed reality (MR) and (ii) 3D haptic feedback about the robot interaction with the environment. To do so, we developed a human-robot interface able to provide this information. First, we demonstrate its potential in a real-world manipulation task requiring sub-centimeter-level accuracy. Then, we evaluate the individual effect of MR vision and haptic feedback on both dexterity and workload through a human subjects study involving a virtual block transportation task. Results show that both 3D MR vision and haptic feedback improve the operator's dexterity in the considered teleoperated aerial interaction tasks. Nevertheless, pilot experience remains the most significant factor. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2410.15398v1-abstract-full').style.display = 'none'; document.getElementById('2410.15398v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 20 October, 2024; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> October 2024. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Comments:</span> <span class="has-text-grey-dark mathjax">12 pages, 11 figures, journal paper</span> </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2405.17844">arXiv:2405.17844</a> <span> [<a href="https://arxiv.org/pdf/2405.17844">pdf</a>, <a href="https://arxiv.org/format/2405.17844">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Systems and Control">eess.SY</span> </div> </div> <p class="title is-5 mathjax"> Enhancing Sliding Performance with Aerial Robots: Analysis and Solutions for Non-Actuated Multi-Wheel Configurations </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Hui%2C+T">Tong Hui</a>, <a href="/search/cs?searchtype=author&query=Ghielmini%2C+J">Jefferson Ghielmini</a>, <a href="/search/cs?searchtype=author&query=Papageorgiou%2C+D">Dimitrios Papageorgiou</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a>, <a href="/search/cs?searchtype=author&query=Siegwart%2C+R">Roland Siegwart</a>, <a href="/search/cs?searchtype=author&query=Fumagalli%2C+M">Matteo Fumagalli</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2405.17844v3-abstract-short" style="display: inline;"> Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated wheel configurations are more frequently applied thanks to their rolling capability for sliding motion, mechanical simplicity, and lightweight design. Moreover, a… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2405.17844v3-abstract-full').style.display = 'inline'; document.getElementById('2405.17844v3-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2405.17844v3-abstract-full" style="display: none;"> Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated wheel configurations are more frequently applied thanks to their rolling capability for sliding motion, mechanical simplicity, and lightweight design. Moreover, a non-actuated multi-wheel (more than one wheel) configuration in the end-effector design allows the placement of additional equipment e.g., sensors and tools in the center of the end-effector tip for applications. However, there is still a lack of studies on crucial contact conditions during sliding using aerial robots with such an end-effector design. In this article, we investigate the key challenges associated with sliding operations using aerial robots equipped with multiple non-actuated wheels through in-depth analysis grounded in physical experiments. The experimental data is used to create a simulator that closely captures real-world conditions. We propose solutions from both mechanical design and control perspectives to improve the sliding performance of aerial robots. From a mechanical standpoint, design guidelines are derived from experimental data. From a control perspective, we introduce a novel pressure-sensing-based control framework that ensures reliable task execution, even during sliding maneuvers. The effectiveness and robustness of the proposed approaches are then validated and compared using the built simulator, particularly in high-risk scenarios. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2405.17844v3-abstract-full').style.display = 'none'; document.getElementById('2405.17844v3-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 10 September, 2024; <span class="has-text-black-bis has-text-weight-semibold">v1</span> submitted 28 May, 2024; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> May 2024. </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2402.17434">arXiv:2402.17434</a> <span> [<a href="https://arxiv.org/pdf/2402.17434">pdf</a>, <a href="https://arxiv.org/format/2402.17434">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Systems and Control">eess.SY</span> </div> </div> <p class="title is-5 mathjax"> Passive Aligning Physical Interaction of Fully-Actuated Aerial Vehicles for Pushing Tasks </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Hui%2C+T">Tong Hui</a>, <a href="/search/cs?searchtype=author&query=Cuniato%2C+E">Eugenio Cuniato</a>, <a href="/search/cs?searchtype=author&query=Pantic%2C+M">Michael Pantic</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a>, <a href="/search/cs?searchtype=author&query=Fumagalli%2C+M">Matteo Fumagalli</a>, <a href="/search/cs?searchtype=author&query=Siegwart%2C+R">Roland Siegwart</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2402.17434v1-abstract-short" style="display: inline;"> Recently, the utilization of aerial manipulators for performing pushing tasks in non-destructive testing (NDT) applications has seen significant growth. Such operations entail physical interactions between the aerial robotic system and the environment. End-effectors with multiple contact points are often used for placing NDT sensors in contact with a surface to be inspected. Aligning the NDT senso… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2402.17434v1-abstract-full').style.display = 'inline'; document.getElementById('2402.17434v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2402.17434v1-abstract-full" style="display: none;"> Recently, the utilization of aerial manipulators for performing pushing tasks in non-destructive testing (NDT) applications has seen significant growth. Such operations entail physical interactions between the aerial robotic system and the environment. End-effectors with multiple contact points are often used for placing NDT sensors in contact with a surface to be inspected. Aligning the NDT sensor and the work surface while preserving contact, requires that all available contact points at the end-effector tip are in contact with the work surface. With a standard full-pose controller, attitude errors often occur due to perturbations caused by modeling uncertainties, sensor noise, and environmental uncertainties. Even small attitude errors can cause a loss of contact points between the end-effector tip and the work surface. To preserve full alignment amidst these uncertainties, we propose a control strategy which selectively deactivates angular motion control and enables direct force control in specific directions. In particular, we derive two essential conditions to be met, such that the robot can passively align with flat work surfaces achieving full alignment through the rotation along non-actively controlled axes. Additionally, these conditions serve as hardware design and control guidelines for effectively integrating the proposed control method for practical usage. Real world experiments are conducted to validate both the control design and the guidelines. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2402.17434v1-abstract-full').style.display = 'none'; document.getElementById('2402.17434v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 27 February, 2024; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> February 2024. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Comments:</span> <span class="has-text-grey-dark mathjax">Accepted to the 2024 IEEE International Conference on Robotics and Automation (ICRA2024)</span> </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2312.01988">arXiv:2312.01988</a> <span> [<a href="https://arxiv.org/pdf/2312.01988">pdf</a>, <a href="https://arxiv.org/format/2312.01988">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> </div> <div class="is-inline-block" style="margin-left: 0.5rem"> <div class="tags has-addons"> <span class="tag is-dark is-size-7">doi</span> <span class="tag is-light is-size-7"><a class="" href="https://doi.org/10.1109/MRA.2023.3348306">10.1109/MRA.2023.3348306 <i class="fa fa-external-link" aria-hidden="true"></i></a></span> </div> </div> </div> <p class="title is-5 mathjax"> Geranos: a Novel Tilted-Rotors Aerial Robot for the Transportation of Poles </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Gorlo%2C+N">Nicolas Gorlo</a>, <a href="/search/cs?searchtype=author&query=Bamert%2C+S">Samuel Bamert</a>, <a href="/search/cs?searchtype=author&query=Cathomen%2C+R">Rafael Cathomen</a>, <a href="/search/cs?searchtype=author&query=K%C3%A4ppeli%2C+G">Gabriel K盲ppeli</a>, <a href="/search/cs?searchtype=author&query=M%C3%BCller%2C+M">Mario M眉ller</a>, <a href="/search/cs?searchtype=author&query=Reinhart%2C+T">Tim Reinhart</a>, <a href="/search/cs?searchtype=author&query=Stadler%2C+H">Henriette Stadler</a>, <a href="/search/cs?searchtype=author&query=Shen%2C+H">Hua Shen</a>, <a href="/search/cs?searchtype=author&query=Cuniato%2C+E">Eugenio Cuniato</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a>, <a href="/search/cs?searchtype=author&query=Siegwart%2C+R">Roland Siegwart</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2312.01988v2-abstract-short" style="display: inline;"> In challenging terrains, constructing structures such as antennas and cable-car masts often requires the use of helicopters to transport loads via ropes. The swinging of the load, exacerbated by wind, impairs positioning accuracy, therefore necessitating precise manual placement by ground crews. This increases costs and risk of injuries. Challenging this paradigm, we present Geranos: a specialized… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2312.01988v2-abstract-full').style.display = 'inline'; document.getElementById('2312.01988v2-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2312.01988v2-abstract-full" style="display: none;"> In challenging terrains, constructing structures such as antennas and cable-car masts often requires the use of helicopters to transport loads via ropes. The swinging of the load, exacerbated by wind, impairs positioning accuracy, therefore necessitating precise manual placement by ground crews. This increases costs and risk of injuries. Challenging this paradigm, we present Geranos: a specialized multirotor Unmanned Aerial Vehicle (UAV) designed to enhance aerial transportation and assembly. Geranos demonstrates exceptional prowess in accurately positioning vertical poles, achieving this through an innovative integration of load transport and precision. Its unique ring design mitigates the impact of high pole inertia, while a lightweight two-part grasping mechanism ensures secure load attachment without active force. With four primary propellers countering gravity and four auxiliary ones enhancing lateral precision, Geranos achieves comprehensive position and attitude control around hovering. Our experimental demonstration mimicking antenna/cable-car mast installations showcases Geranos ability in stacking poles (3 kg, 2 m long) with remarkable sub-5 cm placement accuracy, without the need of human manual intervention. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2312.01988v2-abstract-full').style.display = 'none'; document.getElementById('2312.01988v2-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 11 January, 2024; <span class="has-text-black-bis has-text-weight-semibold">v1</span> submitted 4 December, 2023; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> December 2023. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Comments:</span> <span class="has-text-grey-dark mathjax">accepted at IEEE Robotics and Automation Magazine</span> </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2307.15581">arXiv:2307.15581</a> <span> [<a href="https://arxiv.org/pdf/2307.15581">pdf</a>, <a href="https://arxiv.org/format/2307.15581">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> </div> </div> <p class="title is-5 mathjax"> Learning to Open Doors with an Aerial Manipulator </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Cuniato%2C+E">Eugenio Cuniato</a>, <a href="/search/cs?searchtype=author&query=Geles%2C+I">Ismail Geles</a>, <a href="/search/cs?searchtype=author&query=Zhang%2C+W">Weixuan Zhang</a>, <a href="/search/cs?searchtype=author&query=Andersson%2C+O">Olov Andersson</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a>, <a href="/search/cs?searchtype=author&query=Siegwart%2C+R">Roland Siegwart</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2307.15581v1-abstract-short" style="display: inline;"> The field of aerial manipulation has seen rapid advances, transitioning from push-and-slide tasks to interaction with articulated objects. So far, when more complex actions are performed, the motion trajectory is usually handcrafted or a result of online optimization methods like Model Predictive Control (MPC) or Model Predictive Path Integral (MPPI) control. However, these methods rely on heurist… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2307.15581v1-abstract-full').style.display = 'inline'; document.getElementById('2307.15581v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2307.15581v1-abstract-full" style="display: none;"> The field of aerial manipulation has seen rapid advances, transitioning from push-and-slide tasks to interaction with articulated objects. So far, when more complex actions are performed, the motion trajectory is usually handcrafted or a result of online optimization methods like Model Predictive Control (MPC) or Model Predictive Path Integral (MPPI) control. However, these methods rely on heuristics or model simplifications to efficiently run on onboard hardware, producing results in acceptable amounts of time. Moreover, they can be sensitive to disturbances and differences between the real environment and its simulated counterpart. In this work, we propose a Reinforcement Learning (RL) approach to learn motion behaviors for a manipulation task while producing policies that are robust to disturbances and modeling errors. Specifically, we train a policy to perform a door-opening task with an Omnidirectional Micro Aerial Vehicle (OMAV). The policy is trained in a physics simulator and experiments are presented both in simulation and running onboard the real platform, investigating the simulation to real world transfer. We compare our method against a state-of-the-art MPPI solution, showing a considerable increase in robustness and speed. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2307.15581v1-abstract-full').style.display = 'none'; document.getElementById('2307.15581v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 28 July, 2023; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> July 2023. </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2305.01961">arXiv:2305.01961</a> <span> [<a href="https://arxiv.org/pdf/2305.01961">pdf</a>, <a href="https://arxiv.org/format/2305.01961">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> </div> </div> <p class="title is-5 mathjax"> Design and Control of a Micro Overactuated Aerial Robot with an Origami Delta Manipulator </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Cuniato%2C+E">Eugenio Cuniato</a>, <a href="/search/cs?searchtype=author&query=Geckeler%2C+C">Christian Geckeler</a>, <a href="/search/cs?searchtype=author&query=Brunner%2C+M">Maximilian Brunner</a>, <a href="/search/cs?searchtype=author&query=Str%C3%BCbin%2C+D">Dario Str眉bin</a>, <a href="/search/cs?searchtype=author&query=B%C3%A4hler%2C+E">Elia B盲hler</a>, <a href="/search/cs?searchtype=author&query=Ospelt%2C+F">Fabian Ospelt</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a>, <a href="/search/cs?searchtype=author&query=Mintchev%2C+S">Stefano Mintchev</a>, <a href="/search/cs?searchtype=author&query=Siegwart%2C+R">Roland Siegwart</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2305.01961v1-abstract-short" style="display: inline;"> This work presents the mechanical design and control of a novel small-size and lightweight Micro Aerial Vehicle (MAV) for aerial manipulation. To our knowledge, with a total take-off mass of only 2.0 kg, the proposed system is the most lightweight Aerial Manipulator (AM) that has 8-DOF independently controllable: 5 for the aerial platform and 3 for the articulated arm. We designed the robot to be… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2305.01961v1-abstract-full').style.display = 'inline'; document.getElementById('2305.01961v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2305.01961v1-abstract-full" style="display: none;"> This work presents the mechanical design and control of a novel small-size and lightweight Micro Aerial Vehicle (MAV) for aerial manipulation. To our knowledge, with a total take-off mass of only 2.0 kg, the proposed system is the most lightweight Aerial Manipulator (AM) that has 8-DOF independently controllable: 5 for the aerial platform and 3 for the articulated arm. We designed the robot to be fully-actuated in the body forward direction. This allows independent pitching and instantaneous force generation, improving the platform's performance during physical interaction. The robotic arm is an origami delta manipulator driven by three servomotors, enabling active motion compensation at the end-effector. Its composite multimaterial links help reduce the weight, while their flexibility allow for compliant aerial interaction with the environment. In particular, the arm's stiffness can be changed according to its configuration. We provide an in depth discussion of the system design and characterize the stiffness of the delta arm. A control architecture to deal with the platform's overactuation while exploiting the delta arm is presented. Its capabilities are experimentally illustrated both in free flight and physical interaction, highlighting advantages and disadvantages of the origami's folding mechanism. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2305.01961v1-abstract-full').style.display = 'none'; document.getElementById('2305.01961v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 3 May, 2023; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> May 2023. </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2207.01451">arXiv:2207.01451</a> <span> [<a href="https://arxiv.org/pdf/2207.01451">pdf</a>, <a href="https://arxiv.org/format/2207.01451">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> </div> </div> <p class="title is-5 mathjax"> MPC with Learned Residual Dynamics with Application on Omnidirectional MAVs </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Brunner%2C+M">Maximilian Brunner</a>, <a href="/search/cs?searchtype=author&query=Zhang%2C+W">Weixuan Zhang</a>, <a href="/search/cs?searchtype=author&query=Roumie%2C+A">Ahmad Roumie</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a>, <a href="/search/cs?searchtype=author&query=Siegwart%2C+R">Roland Siegwart</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2207.01451v1-abstract-short" style="display: inline;"> The growing field of aerial manipulation often relies on fully actuated or omnidirectional micro aerial vehicles (OMAVs) which can apply arbitrary forces and torques while in contact with the environment. Control methods are usually based on model-free approaches, separating a high-level wrench controller from an actuator allocation. If necessary, disturbances are rejected by online disturbance ob… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2207.01451v1-abstract-full').style.display = 'inline'; document.getElementById('2207.01451v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2207.01451v1-abstract-full" style="display: none;"> The growing field of aerial manipulation often relies on fully actuated or omnidirectional micro aerial vehicles (OMAVs) which can apply arbitrary forces and torques while in contact with the environment. Control methods are usually based on model-free approaches, separating a high-level wrench controller from an actuator allocation. If necessary, disturbances are rejected by online disturbance observers. However, while being general, this approach often produces sub-optimal control commands and cannot incorporate constraints given by the platform design. We present two model-based approaches to control OMAVs for the task of trajectory tracking while rejecting disturbances. The first one optimizes wrench commands and compensates model errors by a model learned from experimental data. The second one optimizes low-level actuator commands, allowing to exploit an allocation nullspace and to consider constraints given by the actuator hardware. The efficacy and real-time feasibility of both approaches is shown and evaluated in real-world experiments. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2207.01451v1-abstract-full').style.display = 'none'; document.getElementById('2207.01451v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 4 July, 2022; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> July 2022. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Comments:</span> <span class="has-text-grey-dark mathjax">10 pages, 8 figures</span> </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2206.14122">arXiv:2206.14122</a> <span> [<a href="https://arxiv.org/pdf/2206.14122">pdf</a>, <a href="https://arxiv.org/format/2206.14122">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Machine Learning">cs.LG</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Systems and Control">eess.SY</span> </div> </div> <p class="title is-5 mathjax"> Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces by Proprioceptive and Tactile Sensing </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Zhang%2C+W">Weixuan Zhang</a>, <a href="/search/cs?searchtype=author&query=Ott%2C+L">Lionel Ott</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a>, <a href="/search/cs?searchtype=author&query=Siegwart%2C+R">Roland Siegwart</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2206.14122v2-abstract-short" style="display: inline;"> The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with partially-known environments, which may contain uncertainties including unknown spatially-varying friction properties and discontinuous variations of the surface geometry. Fi… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2206.14122v2-abstract-full').style.display = 'inline'; document.getElementById('2206.14122v2-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2206.14122v2-abstract-full" style="display: none;"> The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with partially-known environments, which may contain uncertainties including unknown spatially-varying friction properties and discontinuous variations of the surface geometry. Finding a control strategy that is robust against these environmental uncertainties remains an open challenge. This paper presents a learning-based adaptive control strategy for aerial sliding tasks. In particular, the gains of a standard impedance controller are adjusted in real-time by a policy based on the current control signals, proprioceptive measurements, and tactile sensing. This policy is trained in simulation with simplified actuator dynamics in a student-teacher learning setup. The real-world performance of the proposed approach is verified using a tilt-arm omnidirectional flying vehicle. The proposed controller structure combines data-driven and model-based control methods, enabling our approach to successfully transfer directly and without adaptation from simulation to the real platform. Compared to fine-tuned state of the art interaction control methods we achieve reduced tracking error and improved disturbance rejection. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2206.14122v2-abstract-full').style.display = 'none'; document.getElementById('2206.14122v2-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 5 July, 2022; <span class="has-text-black-bis has-text-weight-semibold">v1</span> submitted 28 June, 2022; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> June 2022. </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2205.12562">arXiv:2205.12562</a> <span> [<a href="https://arxiv.org/pdf/2205.12562">pdf</a>, <a href="https://arxiv.org/format/2205.12562">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Systems and Control">eess.SY</span> </div> <div class="is-inline-block" style="margin-left: 0.5rem"> <div class="tags has-addons"> <span class="tag is-dark is-size-7">doi</span> <span class="tag is-light is-size-7"><a class="" href="https://doi.org/10.1109/LRA.2022.3176959">10.1109/LRA.2022.3176959 <i class="fa fa-external-link" aria-hidden="true"></i></a></span> </div> </div> </div> <p class="title is-5 mathjax"> Power-based Safety Layer for Aerial Vehicles in Physical Interaction using Lyapunov Exponents </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Cuniato%2C+E">Eugenio Cuniato</a>, <a href="/search/cs?searchtype=author&query=Lawrance%2C+N">Nicholas Lawrance</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a>, <a href="/search/cs?searchtype=author&query=Siegwart%2C+R">Roland Siegwart</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2205.12562v1-abstract-short" style="display: inline;"> As the performance of autonomous systems increases, safety concerns arise, especially when operating in non-structured environments. To deal with these concerns, this work presents a safety layer for mechanical systems that detects and responds to unstable dynamics caused by external disturbances. The safety layer is implemented independently and on top of already present nominal controllers, like… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2205.12562v1-abstract-full').style.display = 'inline'; document.getElementById('2205.12562v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2205.12562v1-abstract-full" style="display: none;"> As the performance of autonomous systems increases, safety concerns arise, especially when operating in non-structured environments. To deal with these concerns, this work presents a safety layer for mechanical systems that detects and responds to unstable dynamics caused by external disturbances. The safety layer is implemented independently and on top of already present nominal controllers, like pose or wrench tracking, and limits power flow when the system's response would lead to instability. This approach is based on the computation of the Largest Lyapunov Exponent (LLE) of the system's error dynamics, which represent a measure of the dynamics' divergence or convergence rate. By actively computing this metric, divergent and possibly dangerous system behaviors can be promptly detected. The LLE is then used in combination with Control Barrier Functions (CBFs) to impose power limit constraints on a jerk controlled system. The proposed architecture is experimentally validated on an Omnidirectional Micro Aerial Vehicle (OMAV) both in free flight and interaction tasks. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2205.12562v1-abstract-full').style.display = 'none'; document.getElementById('2205.12562v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 25 May, 2022; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> May 2022. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Journal ref:</span> IEEE Robotics and Automation Letters </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2203.03177">arXiv:2203.03177</a> <span> [<a href="https://arxiv.org/pdf/2203.03177">pdf</a>, <a href="https://arxiv.org/format/2203.03177">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> </div> </div> <p class="title is-5 mathjax"> Towards 6DoF Bilateral Teleoperation of an Omnidirectional Aerial Vehicle for Aerial Physical Interaction </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Allenspach%2C+M">Mike Allenspach</a>, <a href="/search/cs?searchtype=author&query=Lawrance%2C+N">Nicholas Lawrance</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a>, <a href="/search/cs?searchtype=author&query=Siegwart%2C+R">Roland Siegwart</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2203.03177v1-abstract-short" style="display: inline;"> Bilateral teleoperation offers an intriguing solution towards shared autonomy with aerial vehicles in contact-based inspection and manipulation tasks. Omnidirectional aerial robots allow for full pose operations, making them particularly attractive in such tasks. Naturally, the question arises whether standard bilateral teleoperation methodologies are suitable for use with these vehicles. In this… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2203.03177v1-abstract-full').style.display = 'inline'; document.getElementById('2203.03177v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2203.03177v1-abstract-full" style="display: none;"> Bilateral teleoperation offers an intriguing solution towards shared autonomy with aerial vehicles in contact-based inspection and manipulation tasks. Omnidirectional aerial robots allow for full pose operations, making them particularly attractive in such tasks. Naturally, the question arises whether standard bilateral teleoperation methodologies are suitable for use with these vehicles. In this work, a fully decoupled 6DoF bilateral teleoperation framework for aerial physical interaction is designed and tested for the first time. The method is based on the well established rate control, recentering and interaction force feedback policy. However, practical experiments evince the difficulty of performing decoupled motions in a single axis only. As such, this work shows that the trivial extension of standard methods is insufficient for omnidirectional teleoperation, due to the operators physical inability to properly decouple all input DoFs. This suggests that further studies on enhanced haptic feedback are necessary. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2203.03177v1-abstract-full').style.display = 'none'; document.getElementById('2203.03177v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 7 March, 2022; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> March 2022. </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2203.03172">arXiv:2203.03172</a> <span> [<a href="https://arxiv.org/pdf/2203.03172">pdf</a>, <a href="https://arxiv.org/format/2203.03172">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> </div> <div class="is-inline-block" style="margin-left: 0.5rem"> <div class="tags has-addons"> <span class="tag is-dark is-size-7">doi</span> <span class="tag is-light is-size-7"><a class="" href="https://doi.org/10.1109/LRA.2022.3143574">10.1109/LRA.2022.3143574 <i class="fa fa-external-link" aria-hidden="true"></i></a></span> </div> </div> </div> <p class="title is-5 mathjax"> Human-State-Aware Controller for a Tethered Aerial Robot Guiding a Human by Physical Interaction </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Allenspach%2C+M">Mike Allenspach</a>, <a href="/search/cs?searchtype=author&query=Vyas%2C+Y">Yash Vyas</a>, <a href="/search/cs?searchtype=author&query=Rubio%2C+M">Matthias Rubio</a>, <a href="/search/cs?searchtype=author&query=Siegwart%2C+R">Roland Siegwart</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2203.03172v1-abstract-short" style="display: inline;"> With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works, we considered one of the first systems in which a human is physically connected to an aerial vehicle by a cable. There, we developed a compliant controller that allows the robot to pull the human toward a… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2203.03172v1-abstract-full').style.display = 'inline'; document.getElementById('2203.03172v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2203.03172v1-abstract-full" style="display: none;"> With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works, we considered one of the first systems in which a human is physically connected to an aerial vehicle by a cable. There, we developed a compliant controller that allows the robot to pull the human toward a desired position using forces only as an indirect communication-channel. However, this controller is based on the robot-state only, which makes the system not adaptable to the human behavior, and in particular to their walking speed. This reduces the effectiveness and comfort of the guidance when the human is still far from the desired point. In this paper, we formally analyze the problem and propose a human-state-aware controller that includes a human`s velocity feedback. We theoretically prove and experimentally show that this method provides a more consistent guiding force which enhances the guiding experience. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2203.03172v1-abstract-full').style.display = 'none'; document.getElementById('2203.03172v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 7 March, 2022; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> March 2022. </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2202.06755">arXiv:2202.06755</a> <span> [<a href="https://arxiv.org/pdf/2202.06755">pdf</a>, <a href="https://arxiv.org/format/2202.06755">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> </div> </div> <p class="title is-5 mathjax"> Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Brunner%2C+M">Maximilian Brunner</a>, <a href="/search/cs?searchtype=author&query=Giacomini%2C+L">Livio Giacomini</a>, <a href="/search/cs?searchtype=author&query=Siegwart%2C+R">Roland Siegwart</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2202.06755v2-abstract-short" style="display: inline;"> Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environments, proposing strongly model-based approaches. However, in real scenarios, modeling the environment with high accuracy is often impossible. In this work we aim at developing a control framework for OMAVs for reliable phy… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2202.06755v2-abstract-full').style.display = 'inline'; document.getElementById('2202.06755v2-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2202.06755v2-abstract-full" style="display: none;"> Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environments, proposing strongly model-based approaches. However, in real scenarios, modeling the environment with high accuracy is often impossible. In this work we aim at developing a control framework for OMAVs for reliable physical interaction tasks with articulated and movable objects in the presence of possibly unforeseen disturbances, and without relying on an accurate model of the environment. Inspired by previous applications of energy-based controllers for physical interaction, we propose a passivity-based impedance and wrench tracking controller in combination with a momentum-based wrench estimator. This is combined with an energy-tank framework to guarantee the stability of the system, while energy and power flow-based adaptation policies are deployed to enable safe interaction with any type of passive environment. The control framework provides formal guarantees of stability, which is validated in practice considering the challenging task of pushing a cart of unknown mass, moving on a surface of unknown friction, as well as subjected to unknown disturbances. For this scenario, we present, evaluate and discuss three different policies. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2202.06755v2-abstract-full').style.display = 'none'; document.getElementById('2202.06755v2-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 7 March, 2022; <span class="has-text-black-bis has-text-weight-semibold">v1</span> submitted 14 February, 2022; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> February 2022. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Comments:</span> <span class="has-text-grey-dark mathjax">6 pages, 5 figures</span> </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2112.01107">arXiv:2112.01107</a> <span> [<a href="https://arxiv.org/pdf/2112.01107">pdf</a>, <a href="https://arxiv.org/format/2112.01107">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Multiagent Systems">cs.MA</span> </div> </div> <p class="title is-5 mathjax"> Control of over-redundant cooperative manipulation via sampled communication </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Rossi%2C+E">Enrica Rossi</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a>, <a href="/search/cs?searchtype=author&query=Carli%2C+R">Ruggero Carli</a>, <a href="/search/cs?searchtype=author&query=Franchi%2C+A">Antonio Franchi</a>, <a href="/search/cs?searchtype=author&query=Schenato%2C+L">Luca Schenato</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2112.01107v1-abstract-short" style="display: inline;"> In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration can be obtained by different configurations of the robots. The objective of this work is to show that communication can be used to implement cooperative local… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2112.01107v1-abstract-full').style.display = 'inline'; document.getElementById('2112.01107v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2112.01107v1-abstract-full" style="display: none;"> In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration can be obtained by different configurations of the robots. The objective of this work is to show that communication can be used to implement cooperative local feedback controllers in the robots to improve disturbance rejection and reduce structural stress in the object. In particular we consider the realistic scenario where measurements are sampled and transmitted over wireless, and the sampling period is comparable with the system dynamics time constants. We first propose a kinematic model which is consistent with the overall systems dynamics under high-gain control and then we provide sufficient conditions for the exponential stability and monotonic decrease of the configuration error under different norms. Finally, we test the proposed controllers on the full dynamical systems showing the benefit of local communication. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2112.01107v1-abstract-full').style.display = 'none'; document.getElementById('2112.01107v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 2 December, 2021; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> December 2021. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Comments:</span> <span class="has-text-grey-dark mathjax">8 pages, 6 figures</span> </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">MSC Class:</span> 93A16 </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2112.00165">arXiv:2112.00165</a> <span> [<a href="https://arxiv.org/pdf/2112.00165">pdf</a>, <a href="https://arxiv.org/format/2112.00165">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Multiagent Systems">cs.MA</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Systems and Control">eess.SY</span> </div> <div class="is-inline-block" style="margin-left: 0.5rem"> <div class="tags has-addons"> <span class="tag is-dark is-size-7">doi</span> <span class="tag is-light is-size-7"><a class="" href="https://doi.org/10.1016/j.automatica.2023.110941">10.1016/j.automatica.2023.110941 <i class="fa fa-external-link" aria-hidden="true"></i></a></span> </div> </div> </div> <p class="title is-5 mathjax"> Coordinated Multi-Robot Trajectory Tracking Control over Sampled Communication </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Rossi%2C+E">Enrica Rossi</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a>, <a href="/search/cs?searchtype=author&query=Ballotta%2C+L">Luca Ballotta</a>, <a href="/search/cs?searchtype=author&query=Carli%2C+R">Ruggero Carli</a>, <a href="/search/cs?searchtype=author&query=Cort%C3%A9s%2C+J">Juan Cort茅s</a>, <a href="/search/cs?searchtype=author&query=Franchi%2C+A">Antonio Franchi</a>, <a href="/search/cs?searchtype=author&query=Schenato%2C+L">Luca Schenato</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2112.00165v5-abstract-short" style="display: inline;"> In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling time of communications is much larger than the sampling time of low-level controllers, disrupting theoretical convergence guarantees of standard control design… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2112.00165v5-abstract-full').style.display = 'inline'; document.getElementById('2112.00165v5-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2112.00165v5-abstract-full" style="display: none;"> In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling time of communications is much larger than the sampling time of low-level controllers, disrupting theoretical convergence guarantees of standard control design in continuous time. Given a desired trajectory in configuration space which is precomputed offline, the proposed controller receives configuration measurements, possibly via wireless, to re-compute velocity references for the robots, which are tracked by a low-level controller. We propose joint design of a sampled proportional feedback plus a novel continuous-time feedforward that linearizes the dynamics around the reference trajectory: this method is amenable to distributed communication implementation where only one broadcast transmission is needed per sample. Also, we provide closed-form expressions for instability and stability regions and convergence rate in terms of proportional gain $k$ and sampling period $T$. We test the proposed control strategy via numerical simulations in the scenario of cooperative aerial manipulation of a cable-suspended load using a realistic simulator (Fly-Crane). Finally, we compare our proposed controller with centralized approaches that adapt the feedback gain online through smart heuristics, and show that it achieves comparable performance. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2112.00165v5-abstract-full').style.display = 'none'; document.getElementById('2112.00165v5-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 13 January, 2023; <span class="has-text-black-bis has-text-weight-semibold">v1</span> submitted 30 November, 2021; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> December 2021. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Comments:</span> <span class="has-text-grey-dark mathjax">23 pages (main article: 14 pages; appendix: 9 pages), 18 figures; accepted for publication on Automatica; final accepted version</span> </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">MSC Class:</span> 70B15; 70E60; 70Q05; 93C85; 93A16 <span class="has-text-black-bis has-text-weight-semibold">ACM Class:</span> I.2.9; I.2.8; J.2 </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Journal ref:</span> Automatica, vol. 151, p. 110941, 2023 </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2111.03111">arXiv:2111.03111</a> <span> [<a href="https://arxiv.org/pdf/2111.03111">pdf</a>, <a href="https://arxiv.org/format/2111.03111">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Systems and Control">eess.SY</span> </div> </div> <p class="title is-5 mathjax"> Modeling and Control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Sz%C3%A1sz%2C+R">R贸bert Sz谩sz</a>, <a href="/search/cs?searchtype=author&query=Allenspach%2C+M">Mike Allenspach</a>, <a href="/search/cs?searchtype=author&query=Han%2C+M">Minghao Han</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a>, <a href="/search/cs?searchtype=author&query=Katzschmann%2C+R+K">Robert. K. Katzschmann</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2111.03111v1-abstract-short" style="display: inline;"> Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics. The rigid nature of these arms often lack compliance, flexibility, and smoothness in movement. This work proposes to use a soft-bodied robotic arm attached to an omnidirectional micro aerial vehicle (OMAV) to leverage the compliant and flexi… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2111.03111v1-abstract-full').style.display = 'inline'; document.getElementById('2111.03111v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2111.03111v1-abstract-full" style="display: none;"> Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics. The rigid nature of these arms often lack compliance, flexibility, and smoothness in movement. This work proposes to use a soft-bodied robotic arm attached to an omnidirectional micro aerial vehicle (OMAV) to leverage the compliant and flexible behavior of the arm, while remaining maneuverable and dynamic thanks to the omnidirectional drone as the floating base. The unification of the arm with the drone poses challenges in the modeling and control of such a combined platform; these challenges are addressed with this work. We propose a unified model for the flying manipulator based on three modeling principles: the Piecewise Constant Curvature (PCC) and Augmented Rigid Body Model (ARBM) hypotheses for modeling soft continuum robots and a floating-base approach borrowed from the traditional rigid-body robotics literature. To demonstrate the validity and usefulness of this parametrisation, a hierarchical model-based feedback controller is implemented. The controller is verified and evaluated in simulation on various dynamical tasks, where the nullspace motions, disturbance recovery, and trajectory tracking capabilities of the platform are examined and validated. The soft flying manipulator platform could open new application fields in aerial construction, goods delivery, human assistance, maintenance, and warehouse automation. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2111.03111v1-abstract-full').style.display = 'none'; document.getElementById('2111.03111v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 4 November, 2021; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> November 2021. </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2108.12358">arXiv:2108.12358</a> <span> [<a href="https://arxiv.org/pdf/2108.12358">pdf</a>, <a href="https://arxiv.org/format/2108.12358">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> </div> </div> <p class="title is-5 mathjax"> Modelling and Estimation of Human Walking Gait for Physical Human-Robot Interaction </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Vyas%2C+Y">Yash Vyas</a>, <a href="/search/cs?searchtype=author&query=Allenspach%2C+M">Mike Allenspach</a>, <a href="/search/cs?searchtype=author&query=Lanegger%2C+C">Christian Lanegger</a>, <a href="/search/cs?searchtype=author&query=Siegwart%2C+R">Roland Siegwart</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2108.12358v1-abstract-short" style="display: inline;"> An approach to model and estimate human walking kinematics in real-time for Physical Human-Robot Interaction is presented. The human gait velocity along the forward and vertical direction of motion is modelled according to the Yoyo-model. We designed an Extended Kalman Filter (EKF) algorithm to estimate the frequency, bias and trigonometric state of a biased sinusoidal signal, from which the kinem… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2108.12358v1-abstract-full').style.display = 'inline'; document.getElementById('2108.12358v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2108.12358v1-abstract-full" style="display: none;"> An approach to model and estimate human walking kinematics in real-time for Physical Human-Robot Interaction is presented. The human gait velocity along the forward and vertical direction of motion is modelled according to the Yoyo-model. We designed an Extended Kalman Filter (EKF) algorithm to estimate the frequency, bias and trigonometric state of a biased sinusoidal signal, from which the kinematic parameters of the Yoyo-model can be extracted. Quality and robustness of the estimation are improved by opportune filtering based on heuristics. The approach is successfully evaluated on a real dataset of walking humans, including complex trajectories and changing step frequency over time. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2108.12358v1-abstract-full').style.display = 'none'; document.getElementById('2108.12358v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 27 August, 2021; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> August 2021. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Comments:</span> <span class="has-text-grey-dark mathjax">To be published in The 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, 4-5/10/2021</span> </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2101.08100">arXiv:2101.08100</a> <span> [<a href="https://arxiv.org/pdf/2101.08100">pdf</a>, <a href="https://arxiv.org/format/2101.08100">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Systems and Control">eess.SY</span> </div> </div> <p class="title is-5 mathjax"> Active Model Learning using Informative Trajectories for Improved Closed-Loop Control on Real Robots </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Zhang%2C+W">Weixuan Zhang</a>, <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a>, <a href="/search/cs?searchtype=author&query=Ott%2C+L">Lionel Ott</a>, <a href="/search/cs?searchtype=author&query=Siegwart%2C+R">Roland Siegwart</a>, <a href="/search/cs?searchtype=author&query=Nieto%2C+J">Juan Nieto</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2101.08100v2-abstract-short" style="display: inline;"> Model-based controllers on real robots require accurate knowledge of the system dynamics to perform optimally. For complex dynamics, first-principles modeling is not sufficiently precise, and data-driven approaches can be leveraged to learn a statistical model from real experiments. However, the efficient and effective data collection for such a data-driven system on real robots is still an open c… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2101.08100v2-abstract-full').style.display = 'inline'; document.getElementById('2101.08100v2-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2101.08100v2-abstract-full" style="display: none;"> Model-based controllers on real robots require accurate knowledge of the system dynamics to perform optimally. For complex dynamics, first-principles modeling is not sufficiently precise, and data-driven approaches can be leveraged to learn a statistical model from real experiments. However, the efficient and effective data collection for such a data-driven system on real robots is still an open challenge. This paper introduces an optimization problem formulation to find an informative trajectory that allows for efficient data collection and model learning. We present a sampling-based method that computes an approximation of the trajectory that minimizes the prediction uncertainty of the dynamics model. This trajectory is then executed, collecting the data to update the learned model. In experiments we demonstrate the capabilities of our proposed framework when applied to a complex omnidirectional flying vehicle with tiltable rotors. Using our informative trajectories results in models which outperform models obtained from non-informative trajectory by 13.3\% with the same amount of training data. Furthermore, we show that the model learned from informative trajectories generalizes better than the one learned from non-informative trajectories, achieving better tracking performance on different tasks. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2101.08100v2-abstract-full').style.display = 'none'; document.getElementById('2101.08100v2-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 14 May, 2021; <span class="has-text-black-bis has-text-weight-semibold">v1</span> submitted 20 January, 2021; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> January 2021. </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2005.06760">arXiv:2005.06760</a> <span> [<a href="https://arxiv.org/pdf/2005.06760">pdf</a>, <a href="https://arxiv.org/format/2005.06760">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> </div> </div> <p class="title is-5 mathjax"> Physical Human-Robot Interaction with a Tethered Aerial Vehicle: Application to a Force-based Human Guiding Problem </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a>, <a href="/search/cs?searchtype=author&query=Alami%2C+R">Rachid Alami</a>, <a href="/search/cs?searchtype=author&query=Siciliano%2C+B">Bruno Siciliano</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2005.06760v1-abstract-short" style="display: inline;"> Today, physical Human-Robot Interaction (pHRI) is a very popular topic in the field of ground manipulation. At the same time, Aerial Physical Interaction (APhI) is also developing very fast. Nevertheless, pHRI with aerial vehicles has not been addressed so far. In this work, we present the study of one of the first systems in which a human is physically connected to an aerial vehicle by a cable. W… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2005.06760v1-abstract-full').style.display = 'inline'; document.getElementById('2005.06760v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2005.06760v1-abstract-full" style="display: none;"> Today, physical Human-Robot Interaction (pHRI) is a very popular topic in the field of ground manipulation. At the same time, Aerial Physical Interaction (APhI) is also developing very fast. Nevertheless, pHRI with aerial vehicles has not been addressed so far. In this work, we present the study of one of the first systems in which a human is physically connected to an aerial vehicle by a cable. We want the robot to be able to pull the human toward a desired position (or along a path) only using forces as an indirect communication-channel. We propose an admittance-based approach that makes pHRI safe. A controller, inspired by the literature on flexible manipulators, computes the desired interaction forces that properly guide the human. The stability of the system is formally proved with a Lyapunov-based argument. The system is also shown to be passive, and thus robust to non-idealities like additional human forces, time-varying inputs, and other external disturbances. We also design a maneuver regulation policy to simplify the path following problem. The global method has been experimentally validated on a group of four subjects, showing a reliable and safe pHRI. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2005.06760v1-abstract-full').style.display = 'none'; document.getElementById('2005.06760v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 14 May, 2020; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> May 2020. </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/1603.07567">arXiv:1603.07567</a> <span> [<a href="https://arxiv.org/pdf/1603.07567">pdf</a>, <a href="https://arxiv.org/format/1603.07567">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Systems and Control">eess.SY</span> </div> <div class="is-inline-block" style="margin-left: 0.5rem"> <div class="tags has-addons"> <span class="tag is-dark is-size-7">doi</span> <span class="tag is-light is-size-7"><a class="" href="https://doi.org/10.1109/TRO.2017.2677915">10.1109/TRO.2017.2677915 <i class="fa fa-external-link" aria-hidden="true"></i></a></span> </div> </div> </div> <p class="title is-5 mathjax"> Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Tognon%2C+M">Marco Tognon</a>, <a href="/search/cs?searchtype=author&query=Franchi%2C+A">Antonio Franchi</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="1603.07567v2-abstract-short" style="display: inline;"> 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 such as differential flatness, controllability, and observability. We prove that the robotic system is differentially flat with respect to two output pairs: ele… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('1603.07567v2-abstract-full').style.display = 'inline'; document.getElementById('1603.07567v2-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="1603.07567v2-abstract-full" style="display: none;"> 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 such as differential flatness, controllability, and observability. We prove that the robotic system is differentially flat with respect to two output pairs: elevation of the link and attitude of the vehicle; elevation of the link and longitudinal link force (e.g., cable tension, or bar compression). We show the design of an almost globally convergent nonlinear observer of the full state that resorts only to an onboard accelerometer and a gyroscope. We also design two almost globally convergent nonlinear controllers to track any sufficiently smooth time-varying trajectory of the two output pairs. Finally we numerically test the robustness of the proposed method in several far-from-nominal conditions: nonlinear cross-coupling effects, parameter deviations, measurements noise and non ideal actuators. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('1603.07567v2-abstract-full').style.display = 'none'; document.getElementById('1603.07567v2-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 3 March, 2017; <span class="has-text-black-bis has-text-weight-semibold">v1</span> submitted 24 March, 2016; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> March 2016. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Journal ref:</span> IEEE Transaction on Robotics Volume: 33, Issue: 4, Aug. 2017 </p> </li> </ol> <div class="is-hidden-tablet">  <span class="help" 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