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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