Decentralized Nonlinear MPC for Robust Cooperative Manipulation by Heterogeneous Aerial-Ground Robots
Nicola Lissandrini,Christos K. Verginis,Pedro Roque,Angelo Cenedese,Dimos V. Dimarogonas,Nicola Lissandrini,Christos K. Verginis,Pedro Roque,Angelo Cenedese,Dimos V. Dimarogonas
Cooperative robotics is a trending topic nowadays as it makes possible a number of tasks that cannot be performed by individual robots, such as heavy payload transportation and agile manipulation. In this work, we address the problem of cooperative transportation by heterogeneous, manipulator- endowed robots. Specifically, we consider a generic number of robotic agents simultaneously grasping an o...
