International audienceIn 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 and external disturbances should be compensated. The proposed control requires the knowledge of the nominal values of a minimum number of uncertain kinematic parameters, thus simplifying the identification process and the controller implementation. We propose an optimization-based tuning method of the control gains that ensures stability despite parameter uncertainty and maximizes the H∞ performance. The validity of the propo...
Rotorcrafts, with satisfactory maneuver performance and ability under complex terrains unreachable f...
During operation, aerial manipulation systems are affected by various disturbances. Among them is a ...
International audienceThis paper investigates the effect of the robot configuration on the performan...
International audienceIn this work we propose an uncertainty-aware controller for the Fly-Crane syst...
International audienceIn this work we propose an uncertainty-aware controller for the Fly-Crane syst...
The Fly-Crane is a multi-robot aerial manipulator system composed of three aerial vehicles towed to ...
Aerial manipulation is a modern and prospective field in interaction robotics with many industrial a...
International audienceThis work studies how parametric uncertainties affect the cooperative manipula...
International audienceWe present the control in physical interaction with the environment of a Cable...
International audienceWe present the control in physical interaction with the environment of a Cable...
International audienceWe present the control in physical interaction with the environment of a Cable...
International audienceAbstract This work introduces the G-Fly-Crane, a proof-of-concept aerial multi...
International audienceAbstract This work introduces the G-Fly-Crane, a proof-of-concept aerial multi...
International audienceAbstract This work introduces the G-Fly-Crane, a proof-of-concept aerial multi...
Rotorcrafts, with satisfactory maneuver performance and ability under complex terrains unreachable f...
Rotorcrafts, with satisfactory maneuver performance and ability under complex terrains unreachable f...
During operation, aerial manipulation systems are affected by various disturbances. Among them is a ...
International audienceThis paper investigates the effect of the robot configuration on the performan...
International audienceIn this work we propose an uncertainty-aware controller for the Fly-Crane syst...
International audienceIn this work we propose an uncertainty-aware controller for the Fly-Crane syst...
The Fly-Crane is a multi-robot aerial manipulator system composed of three aerial vehicles towed to ...
Aerial manipulation is a modern and prospective field in interaction robotics with many industrial a...
International audienceThis work studies how parametric uncertainties affect the cooperative manipula...
International audienceWe present the control in physical interaction with the environment of a Cable...
International audienceWe present the control in physical interaction with the environment of a Cable...
International audienceWe present the control in physical interaction with the environment of a Cable...
International audienceAbstract This work introduces the G-Fly-Crane, a proof-of-concept aerial multi...
International audienceAbstract This work introduces the G-Fly-Crane, a proof-of-concept aerial multi...
International audienceAbstract This work introduces the G-Fly-Crane, a proof-of-concept aerial multi...
Rotorcrafts, with satisfactory maneuver performance and ability under complex terrains unreachable f...
Rotorcrafts, with satisfactory maneuver performance and ability under complex terrains unreachable f...
During operation, aerial manipulation systems are affected by various disturbances. Among them is a ...
International audienceThis paper investigates the effect of the robot configuration on the performan...