Search
Results
-
Trajectory Tracking Nonlinear Model Predictive Control for an Overactuated MAV
(2020)2020 IEEE International Conference on Robotics and Automation (ICRA)This work presents a method to control omnidirectional micro aerial vehicles (OMAVs) for the tracking of 6-DoF trajectories in free space. A rigid body model based approach is applied in a receding horizon fashion to generate optimal wrench commands that can be constrained to meet limits given by the mechanical design and actuators of the platform. Allocation of optimal actuator commands is performed in a separate step. A disturbance ...Conference Paper -
NMPC for Multicopter's Trajectory Tracking Using Modified Rodrigues Parameters
(2018)2018 IEEE Conference on Control Technology and Applications (CCTA)Conference Paper -
Linear vs nonlinear mpc for trajectory tracking applied to rotary wing micro aerial vehicles
(2017)IFAC-PapersOnLine ~ 20th IFAC World Congress. ProceedingsPrecise trajectory tracking is a crucial property for Micro Air Vehicles (MAVs) to operate in cluttered environment or under disturbances. In this paper we present a detailed comparison between two state-of-the-art model-based control techniques for MAV trajectory tracking. A classical Linear Model Predictive Controller (LMPC) is presented and compared against a more advanced Nonlinear Model Predictive Controller (NMPC) that considers the ...Conference Paper -
A Decentralized Multi-Agent Unmanned Aerial System to Search, Pick Up, and Relocate Objects
(2017)Proceedings of 2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)Conference Paper -
Collaborative transportation using MAVs via passive force control
(2017)2017 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -
Aerial picking and delivery of magnetic objects with MAVs
(2017)Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -
Robust collision avoidance for multiple micro aerial vehicles using nonlinear model predictive control
(2017)IEEE International Conference on Intelligent Robots and SystemsConference Paper -
Receding Horizon "Next-best-view" Planner For 3D Exploration
(2016)2016 IEEE International Conference on Robotics and Automation (ICRA 2016)Conference Paper -
Fast nonlinear Model Predictive Control for unified trajectory optimization and tracking
(2016)2016 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -
Design and modeling of dexterous aerial manipulator
(2016)2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Conference Paper