Elisabetta Cataldi

TL;DR: An extensive experimental campaign shows that the Tilt-Hex is able to outperform the classical underactuated multi-rotors in terms of stability, accuracy and dexterity and represent one of the best choice at date for tasks requiring aerial physical interaction.

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: The proposed approach, while maintaining the common assumption of an orientation dynamics faster than the translational one, removes the assumption of absence of external disturbances and of geometric center coincident with the Center of Mass (CoM).

TL;DR: An impedance control scheme for aerial robotic manipulators is proposed, with the aim of reducing the end-effector interaction forces with the environment.

TL;DR: This brief presents a three-layer control architecture for coordinated control of multiple unmanned aerial vehicle manipulators (UAVMs): the centralized top layer plans the end-effector desired trajectories of each UAVM; the middle layer, local to each vehicle, computes the corresponding motion references; the bottom layer is a low level dynamic motion controller, which tracks the motion references.