|
Sensors-based Control of an Aerial Manipulator for Complex Manipulation of Articulated Objects |
PhD |
Researchers are trying to make aerial robots perform physical work for new applications like construction, inspection, maintenance, etc. Current methodologies show promising results, but they are limited to very simple tasks only performed in lab environments. In this Thesis we want to go beyond this limited scenario. By the investigation of new sensors-based control methods, we want to make aerial manipulators able to perform much complex tasks using onboard sensors only, especially considering manipulation of articulated objects.
|
 |
|
Aerial Robots with the sense of touch |
PhD |
Researchers are trying to make aerial robots perform physical work. Current methodologies show promising results, but they fail in real scenarios, mostly because of inaccurate visual perception. Inspired by nature, this project investigates how to also provide aerial robots with the sense of touch and how to use it for improving their manipulation capabilities. |
 |
|
Full-Body Design and Control of an Aerial Manipulator for Advance Physical Interaction |
PhD |
In this PhD we want to go beyond the current approaches for Aerial Physical Interaction looking at aerial manipulators as a whole system, both from the design and control perspectives. In particular we want to conceive a new aerial manipulator with torque controlled joints, the then design a proper full-body controller fully exploiting the system capabilities for physical interaction. |
 |
|
MPC-based control of a cable-suspended load using multiple UAVs for dynamic motions |
Master thesis |
This project envisions developing the next generation of multi-UAV systems to achieve fast, safe, and robust manipulation of a cable-suspended load in the real world. |
 |
|
Collaborative Articulated-Object Manipulation with Multi-drone Systems |
Master thesis |
The goal of this Master Thesis is to exploit recent advancements in the optimal control theory to design a manipulation planner that can effectively handle complex interactions and extend those results to multiple collaborating robots in the context of object manipulation. |
 |
|
Energy-aware collaborative transportation and manipulation with multi-drone systems |
Master thesis |
The goal of this Master Thesis is to exploit recent advancements on the topic of energy-aware coordination of multi-drone systems to handle collaborative load transportation in unknown and unstructured environments with a team of drones. |
 |
|
Full-body Design and Control of an Aerial Manipulator |
Master thesis |
A new torque-controlled arm is to be designed and implemented for the tilt-hex hexacopter platform in order to obtain a thrust-torque (optimal) control for the robot. |
 |
