We present a novel coordination scheme for online multi-robot coverage with a team of resource-constrained aerial vehicles relying on the PH-tree data structure. We propose a hybrid system architecture where coverage tasks are assigned to robots in a centr ...
This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...
This paper presents a comparison of linear and nonlinear Model Predictive Control (MPC) strategies for trajectory tracking Micro Aerial Vehicles (MAVs). In this comparative study, we paid particular attention to establish quantitatively fair metrics and te ...
In a world where the complexity and performance requirements of the tasks requested from micro aerial vehicles are continuously increasing, smooth design and deployment of multi-robot systems are gaining more significance. This paper tackles such challengi ...
This paper presents a distributed estimation and control architecture for leader-follower formations of multi-rotor micro aerial vehicles. The architecture involves multi-rate extended Kalman filtering and nonlinear model predictive control in order to opt ...
