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Marco Tognon

Bio: Marco Tognon is an academic researcher from Institute of Robotics and Intelligent Systems. The author has contributed to research in topics: Computer science & Robot. The author has an hindex of 13, co-authored 53 publications receiving 517 citations. Previous affiliations of Marco Tognon include ETH Zurich & University of Toulouse.

Papers published on a yearly basis

Papers
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Journal ArticleDOI
29 Jan 2019
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.
Abstract: We present the design, motion planning, and control of an aerial manipulator for non-trivial physical interaction tasks, such as pushing while sliding on curved surfaces—a task which is motivated by the increasing interest in autonomous non-destructive tests for industrial plants. 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. This combination makes it a truly-redundant manipulator going beyond standard aerial manipulators based on collinear multirotor platforms. The controller is based on a PID method with a “displaced” positional part that ensures asymptotic stability despite the arm elasticity. A kinodynamic task-constrained and control-aware global motion planner is used. Experiments show that the proposed aerial manipulator system, equipped with an Eddy current probe, is able to scan a metallic pipe sliding the sensor over its surface and preserving the contact. From the measures, a weld on the pipe is successfully detected and mapped.

124 citations

Journal ArticleDOI
TL;DR: In this article, the evolution and current trends in aerial robotic manipulation, comprising helicopters, conventional underactuated multirotors, and multidirectional thrust platforms equipped with a wide variety of robotic manipulators capable of physically interacting with the environment, are analyzed.
Abstract: This article analyzes the evolution and current trends in aerial robotic manipulation, comprising helicopters, conventional underactuated multirotors, and multidirectional thrust platforms equipped with a wide variety of robotic manipulators capable of physically interacting with the environment. It also covers cooperative aerial manipulation and interconnected actuated multibody designs. The review is completed with developments in teleoperation, perception, and planning. Finally, a new generation of aerial robotic manipulators is presented with our vision of the future.

76 citations

Journal ArticleDOI
08 Feb 2018
TL;DR: It is proved that if a nonzero internal force is chosen, then the asymptotic stabilization of any desired beam attitude can be achieved with a decentralized and communicationless master–slave admittance controller.
Abstract: This paper considers the study of cooperative manipulation of a cable-suspended load with two generic aerial robots and without explicit communication. The role of the internal force for the asymptotic stability of the beam-position/beam-attitude equilibria is analyzed in depth. Using a nonlinear Lyapunov-based approach, we prove that if a non-zero internal force is chosen then asymptotic stabilization of any desired beam-pose configuration can be achieved with a decentralized and communication-less master-slave admittance controller. If, conversely, a zero internal force is chosen, as done in the majority of the state-of-the-art algorithms, the attitude of the beam is not controllable without communication. Non-zero internal force can be interpreted then as a fundamental factor that enables the use of cables as implicit communication means between the two vehicles in replacement of the explicit ones. Furthermore, the formal proof of the system output-strictly passivity with respect to an energy-like storage function and a certain input-output pair is given. This proves the stability and the robustness of the method even during motion. The theoretical findings are validated through numerical simulations.

66 citations

Journal ArticleDOI
TL;DR: In this article, the authors consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link, and provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties such as differential flatness, controllability, and observability.
Abstract: In this paper, we consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties such as differential flatness, controllability, and observability. We prove that the robotic system is differentially flat with respect to two output pairs: elevation of the link and attitude of the vehicle; elevation of the link and longitudinal link force (e.g., cable tension, or bar compression). We show the design of an almost globally convergent nonlinear observer of the full state that resorts only to an onboard accelerometer and a gyroscope. We also design two almost globally convergent nonlinear controllers to track any sufficiently smooth time-varying trajectory of the two output pairs. Finally, we numerically test the robustness of the proposed method in several far-from-nominal conditions: nonlinear cross-coupling effects, parameter deviations, measurements noise, and nonideal actuators.

57 citations

Journal ArticleDOI
TL;DR: In this paper, the effect of multi-rotor aerial vehicle designs on their abilities in terms of tasks and system properties is reviewed. And a general taxonomy is proposed to characterize and describe multirotor UAVs.
Abstract: This paper reviews the effect of multirotor aerial vehicle designs on their abilities in terms of tasks and system properties. We propose a general taxonomy to characterize and describe multirotor ...

54 citations


Cited by
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Journal ArticleDOI
21 Feb 2018
TL;DR: This letter tries to collect the results reached by the research community so far within the field of aerial manipulation, especially from the technological and control point of view.
Abstract: Aerial manipulation aims at combining the versatility and the agility of some aerial platforms with the manipulation capabilities of robotic arms. This letter tries to collect the results reached by the research community so far within the field of aerial manipulation, especially from the technological and control point of view. A brief literature review of general aerial robotics and space manipulation is carried out as well.

339 citations

Journal ArticleDOI
TL;DR: The main sections of this paper focus on major results covering trajectory generation, task allocation, adversarial control, distributed sensing, monitoring, and mapping, and dynamic modeling and conditions for stability and controllability that are essential in order to achieve cooperative flight and distributed sensing.
Abstract: The use of aerial swarms to solve real-world problems has been increasing steadily, accompanied by falling prices and improving performance of communication, sensing, and processing hardware. The commoditization of hardware has reduced unit costs, thereby lowering the barriers to entry to the field of aerial swarm robotics. A key enabling technology for swarms is the family of algorithms that allow the individual members of the swarm to communicate and allocate tasks amongst themselves, plan their trajectories, and coordinate their flight in such a way that the overall objectives of the swarm are achieved efficiently. These algorithms, often organized in a hierarchical fashion, endow the swarm with autonomy at every level, and the role of a human operator can be reduced, in principle, to interactions at a higher level without direct intervention. This technology depends on the clever and innovative application of theoretical tools from control and estimation. This paper reviews the state of the art of these theoretical tools, specifically focusing on how they have been developed for, and applied to, aerial swarms. Aerial swarms differ from swarms of ground-based vehicles in two respects: they operate in a three-dimensional space and the dynamics of individual vehicles adds an extra layer of complexity. We review dynamic modeling and conditions for stability and controllability that are essential in order to achieve cooperative flight and distributed sensing. The main sections of this paper focus on major results covering trajectory generation, task allocation, adversarial control, distributed sensing, monitoring, and mapping. Wherever possible, we indicate how the physics and subsystem technologies of aerial robots are brought to bear on these individual areas.

333 citations

Journal ArticleDOI
TL;DR: This paper investigates fuzzy neural network (FNN) control using impedance learning for coordinated multiple constrained robots carrying a common object in the presence of the unknown robotic dynamics and the unknown environment with which the robot comes into contact.
Abstract: In this paper, we investigate fuzzy neural network (FNN) control using impedance learning for coordinated multiple constrained robots carrying a common object in the presence of the unknown robotic dynamics and the unknown environment with which the robot comes into contact. First, an FNN learning algorithm is developed to identify the unknown plant model. Second, impedance learning is introduced to regulate the control input in order to improve the environment–robot interaction, and the robot can track the desired trajectory generated by impedance learning. Third, in light of the condition requiring the robot to move in a finite space or to move at a limited velocity in a finite space, the algorithm based on the position constraint and the velocity constraint are proposed, respectively. To guarantee the position constraint and the velocity constraint, an integral barrier Lyapunov function is introduced to avoid the violation of the constraint. According to Lyapunov’s stability theory, it can be proved that the tracking errors are uniformly bounded ultimately. At last, some simulation examples are carried out to verify the effectiveness of the designed control.

199 citations

Journal ArticleDOI
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).
Abstract: 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 (IaM).

167 citations

Journal ArticleDOI
02 Apr 2020
TL;DR: Using systems of multiple UAVs is the next obvious step in the process of applying this technology for variety of applications.
Abstract: Nowadays, Unmanned Aerial Vehicles (UAVs) are used in many different applications. Using systems of multiple UAVs is the next obvious step in the process of applying this technology for variety of ...

135 citations