Design of Dynamics Invariant LSTM for Touch Based Human–UAV Interaction Detection

Autor: Anees Peringal, Mohamad Chehadeh, Rana Azzam, Mahmoud Hamandi, Igor Boiko, Yahya Zweiri

Publikováno v: IEEE Access, Vol 10, Pp 116045-116058 (2022)

The field of Unmanned Aerial Vehicles (UAVs) has reached a high level of maturity in the last few years. Hence, bringing such platforms from closed labs, to day-to-day interactions with humans is important for commercialization of UAVs. One particula

Externí odkaz: https://doaj.org/article/927dc85713254ce592d029a75f6cb21a

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

Understanding the omnidirectional capability of a generic multi-rotor aerial vehicle

Autor: Marco Tognon, Mahmoud Hamandi, Quentin Sable, Antonio Franchi

Publikováno v: IEEE Workshop on Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)
IEEE Workshop on Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Oct 2021, Biograd na Moru, Croatia. ⟨10.1109/AIRPHARO52252.2021.9571051⟩
2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)

International audience; The aim of this work is to present the necessary conditions for the design of an omnidirectional Multi-Rotor Aerial Vehicle (MRAV), while taking into consideration its geometry, weight, and actuation limits. The work formally

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::58a0cf359871698874275afae7e334c2
https://hal.archives-ouvertes.fr/hal-03402718/document

A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure

Autor: Elgiz Baskaya, Murat Bronz, Antonio Franchi, Mahmoud Hamandi

Publikováno v: IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters, IEEE 2021, 6 (2), pp 4001-4008. ⟨10.1109/LRA.2021.3067182⟩
IEEE Robotics and Automation Letters, 2021, 6 (2), pp 4001-4008. ⟨10.1109/LRA.2021.3067182⟩

This letter presents a novel open source design of the Y-shaped hexarotor Unammend Aerial Vehicle (UAV), and proves both in theory and real experiments its robustness to the failure of any of its propellers. An intuitive geometrical interpretation of

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f683541e821eb4977048a1b69144cc8e
http://hal.univ-smb.fr/hal-02970614/file/main.pdf

Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles

Autor: Antonio Franchi, Mahmoud Hamandi, Marco Tognon

Publikováno v: IEEE International Conference on Robotics and Automation (ICRA 2020)
IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9196557⟩
2020 IEEE International Conference on Robotics and Automation (ICRA)
2020 IEEE International Conference on Robotics and Automation (ICRA), 5335-5341
STARTPAGE=5335;ENDPAGE=5341;TITLE=2020 IEEE International Conference on Robotics and Automation (ICRA)
ICRA

International audience; In this paper we propose to control a quadrotor through direct acceleration feedback. The proposed method, while simple in form, alleviates the need for accurate estimation of platform parameters such as mass and propeller eff

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5dc0c55aff90de7093c4d2f12203a241
https://hal.archives-ouvertes.fr/hal-02494590/file/main_HAL.pdf