Marco Tognon

TL;DR: The proposed sampling based motion planner uses a controller composed of a second-order inverse kinematics algorithm and a dynamic tracker, as a local planner, thus allowing a more natural consideration of the closed-loop system dynamics.

TL;DR: In this article, a hierarchical nonlinear controller is proposed for takeoff and landing on a sloped surface for a V2D quadrotor without the need of either a planner or a perfect tracking.

TL;DR: This work designs a globally convergent nonlinear controller based on the concurrent use of a dynamic feedback linearization control and a state estimator based on a nonlinear state/output transformation and a high gain observer scheme that is able to globally control elevation and stress along independent time-varying trajectories only resorting to inertial measurements.

TL;DR: A versatile Visual Marker based Multi-Sensor Fusion State Estimation that allows to combine a variable optional number of sensors and positioning algorithms in a loosely-coupling fashion, incorporating visual markers to increase its performances is presented.

TL;DR: This work presents the study of one of the first systems in which a human is physically connected to an aerial vehicle by a cable, and proposes an admittance-based approach with a controller that computes the desired interaction forces that properly guide the human.