Francesco Pierri

TL;DR: This article summarizes new aerial robotic manipulation technologies and methods-aerial robotic manipulators with dual arms and multidirectional thrusters-developed in the AEROARMS project for outdoor industrial inspection and maintenance (I&M).

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: This paper presents a distributed fault detection and isolation strategy for a team of networked robots that builds on a distributed controller-observer schema that makes each robot of the team able to detect and isolate faults occurring on other robots, even if they are not direct neighbors.

TL;DR: A novel hierarchical motion control scheme for quadrotor aerial vehicles equipped with a manipulator is proposed and a simulation case study is developed to demonstrate the effectiveness of the approach in the presence of disturbances and unmodeled dynamics.