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Methods for Online Predictive Control of Multi-rotor Aerial Robots with Perception-driven Tasks subject to Sensing and Actuation Constraints

Martin Jacquet
Automatic. INSA de Toulouse, 2022. English. ⟨NNT : 2022ISAT0021⟩
Theses tel-03876853v2
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Motor and Perception Constrained NMPC for Torque-controlled Generic Aerial Vehicles

Martin Jacquet , Antonio Franchi
IEEE Robotics and Automation Letters, 2021, 6 (2), pp.518 - 525. ⟨10.1109/LRA.2020.3045654⟩
Journal articles hal-03154736v3
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A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles

Gianluca Corsini , Martin Jacquet , Antonio Enrique Jimenez-Cano , Amr Afifi , Daniel Sidobre et al.
The 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, Oct 2021, Biograd na Moru, Croatia. ⟨10.1109/AIRPHARO52252.2021.9571053⟩
Conference papers hal-03327702v1
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Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVS

Martin Jacquet , Gianluca Corsini , Davide Bicego , Antonio Franchi
IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris (Virtual Conference), France. pp.4301-4306, ⟨10.1109/ICRA40945.2020.9197281⟩
Conference papers hal-02974320v1
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Enforcing Vision-Based Localization using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles

Martin Jacquet , Antonio Franchi
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. pp.1818-1824, ⟨10.1109/IROS47612.2022.9981643⟩
Conference papers hal-03597619v1
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Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case

Gianluca Corsini , Martin Jacquet , Hemjyoti Das , Amr Afifi , Daniel Sidobre et al.
The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9981045⟩
Conference papers hal-03716664v1
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Motor-level N-MPC for Cooperative Active Perception with Multiple Heterogeneous UAVs

Martin Jacquet , Max Kivits , Hemjyoti Das , Antonio Franchi
IEEE Robotics and Automation Letters, 2022, 7 (2), pp.2063 - 2070. ⟨10.1109/LRA.2022.3143218⟩
Journal articles hal-03482081v3