Davide Bicego

TL;DR: FAST-Hex is presented, a novel UAV concept which is able to smoothly change its configuration from underactuated to fully actuated by using only one additional motor that tilts all propellers at the same time, and a novel full-pose geometric controller for generic multi-rotors that outperforms classical inverse dynamics approaches.

TL;DR: The proposed aerial manipulator consists of a multidirectional-thrust aerial vehicle—to enhance physical interaction capabilities—endowed with a 2-DoFs lightweight arm—to enlarge its workspace and makes it a truly-redundant manipulator going beyond standard aerial manipulators based on collinear multirotor platforms.

TL;DR: A novel paradigm for physical interactive tasks in aerial robotics allowing reliability to be increased and weight and costs to be reduced compared with state-of-the-art approaches is presented.

TL;DR: If made possible by the force constraints, the proposed SE(3)-based control strategy achieves the independent tracking of position-plus-orientation trajectories and guarantees at least the position tracking in the case of an unfeasible full-pose reference trajectory.

TL;DR: The OTHex platform for aerial manipulation developed at LAAS-CNRS is probably the first multi-directional thrust platform designed to act as Flying Assistant which can aid human operators and/or Ground Manipulators to move long bars for assembly and maintenance tasks.