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Robust and Agile Transportation of Cable Suspended-Loads with Multi-Drone Systems |
PhD |
This project enhances multi-drone systems for transporting cable-suspended loads, emphasizing autonomy, robustness, and human interaction. Objectives include improving perception with onboard cameras and Control Barrier Functions (CBF), employing Nonlinear Model Predictive Control (NMPC) for motion generation, and developing shared control for intuitive human-drone interaction. Anticipated outcomes include advanced capabilities applicable to search and rescue, infrastructure maintenance, and logistics. |
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Sensors-based Distributed Control of Multi-Drone Systems for Agile Cooperative Aerial Manipulation |
PhD |
This research focuses on coordinating multi-aerial robots for manipulating cable-suspended loads in industrial settings. By leveraging sensor data and distributed coordination, we aim to enhance system autonomy and efficiency. Experimental validation using a cable-driven platform will demonstrate the effectiveness of our approach, with potential applications in construction and inspection industries. |
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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. |
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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. |
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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. |
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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. |
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