A Novel Experimental Model and a Drag-Optimal Allocation Method for Variable-Pitch Propellers in Multirotors

Autor: Victor Manuel Arellano-Quintana, Emmanuel Alejandro Merchan-Cruz, Antonio Franchi

Publikováno v: IEEE Access, Vol 6, Pp 68155-68168 (2018)

This paper proposes a new mathematical model to map the rotational speed and angle of attack (pitch) of small-size propellers typically used in multirotors and the aerodynamic thrust force and drag moment produced by the propeller itself. The new mod

Externí odkaz: https://doaj.org/article/980f2b16c99f4fd4b0b8377d288eb8b3

Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control

Autor: Mostafa Mohammadi, Davide Bicego, Antonio Franchi, Davide Barcelli, Domenico Prattichizzo

Publikováno v: Applied Sciences, Vol 11, Iss 19, p 8955 (2021)

This paper addresses the problem of unilateral contact interaction by an under-actuated quadrotor UAV equipped with a passive tool in a bilateral teleoperation scheme. To solve the challenging control problem of force regulation in contact interactio

Externí odkaz: https://doaj.org/article/082d8de94acf440d87b1a5376906a8d4

Full-pose Trajectory Tracking of Overactuated Multi-Rotor Aerial Vehicles with Limited Actuation Abilities

Autor: Yahya Zweiri, Antonio Franchi, lakmal seneviratne, Ismail Al-Ali, Mahmoud Hamandi

This paper presents a novel optimization-based full-pose trajectory tracking method to control overactuated multi-rotor aerial vehicles with limited actuation abilities. The proposed method allocates feasible control inputs to track a reference traje

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::623757fe2e85e82120defc8ae8f22a9b
https://doi.org/10.36227/techrxiv.21975053

Design of multirotor aerial vehicles: A taxonomy based on input allocation

Autor: Nicolas Staub, Marco Tognon, Antonio Franchi, Quentin Sable, Federico Usai, Mahmoud Hamandi

Publikováno v: The International Journal of Robotics Research
The International Journal of Robotics Research, SAGE Publications, 2021, 40 (8-9), pp.1015-1044. ⟨10.1177/02783649211025998⟩
The International Journal of Robotics Research, 2021, 40 (8-9), pp.1015-1044. ⟨10.1177/02783649211025998⟩
The International Journal of Robotics Research, 40 (8-9)

This paper reviews the effect of multirotor aerial vehicle designs on their abilities in terms of tasks and system properties. We propose a general taxonomy to characterize and describe multirotor aerial vehicles and their designs, which we apply exh

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::6798297da8df0211579fa15572851392
https://doi.org/10.1177/02783649211025998

Toward Physical Human-Robot Interaction Control with Aerial Manipulators: Compliance, Redundancy Resolution, and Input Limits

Autor: Amr Afifi, Mark van Holland, Antonio Franchi

Publikováno v: 2022 International Conference on Robotics and Automation (ICRA).

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::6f403b35adcb3c133f26058a628bd384
https://doi.org/10.1109/icra46639.2022.9812451