Control

This project develops high-order control barrier functions that account for actuator dynamics, keeping quadrotors safe during aggressive flight in clutter.

This project builds a visual impedance teleoperation framework that lets a human operator feel and steer cooperative aerial manipulation of cable-suspended payloads.

This project develops differential cable force allocation to improve disturbance rejection in teams of aerial robots carrying cable-suspended loads.

This project develops geometric impedance control on the SE(3) manifold for multi-robot aerial manipulation and physical human-robot interaction.

This project learns contraction metrics for robust control of hybrid aerial robots with suspended payloads.