Aerial Robotics

External-Wrench Estimation for Aerial Robots Exploiting a Learned Model

This paper presents an external wrench estimator that uses a hybrid dynamics model consisting of a first-principles model and a neural …

A. Alharbat, G. Ruscelli, R. Diversi, A. Mersha

External-Wrench Estimation for Aerial Robots Exploiting a Learned Model

RL-based Control of UAS Subject to Significant Disturbance

This paper proposes a Reinforcement Learning (RL)-based control framework for position and attitude control of an Unmanned Aerial …

K. Chakraborty, T. Hof, A. Alharbat, A. Mersha

RL-based Control of UAS Subject to Significant Disturbance

Sarax: An Open-Source Software/Hardware Framework for Aerial Manipulators

The use of Multi-Rotor Aerial Vehicles (MRAVs) in tasks that require physical interaction has been an active research field in the last …

A. Alharbat, D. Zwakenberg, H. Esmaeeli, A. Mersha

Sarax: An Open-Source Software/Hardware Framework for Aerial Manipulators

Three Fundamental Paradigms for Aerial Physical Interaction Using Nonlinear Model Predictive Control

This paper introduces and compares the three most relevant approaches in which an Aerial Physical Interaction (APhI) control can …

A. Alharbat, H. Esmaeeli, D. Bicego, A. Y. Mersha, A. Franchi

Three Fundamental Paradigms for Aerial Physical Interaction Using Nonlinear Model Predictive Control

Physical Interacting Aerial Robots for ‘In-Situ’ Inspection and Maintenance of Wind Turbine Blade

Wind turbines are green energy sources that have a great potential in playing a crucial role in mitigating climate change. Regular …

H. Esmaeeli, A. Alharbat, A. Y. Mersha

Physical Interacting Aerial Robots for ‘In-Situ’ Inspection and Maintenance of Wind Turbine Blade