Videos

This collection is taken from the following youtube channels:

Do not forget to watch also the videos attached to the publications

MAGMaS: Multiple Aerial-Ground Manipulator System

ImageThis video shows the new concept of MAGMaS: Multiple Aerial-Ground Manipulator System, which combines the strength of ground manipulators with the large workspace of aerial robots.

Dynamic Decentralized Control for Protocentric Aerial Manipulators

ImageThis video shows a new method to control aerial manipulators that are procentric exploiting differential flatness and decentralized control.

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Static Hovering Analysis and Control and Application to Rotor-Failure Flight

ImageThis video illustrates our recent work on the algebraic conditions to obtain static hovering (i.e., with zero linear/angular moments) and on our method to control any generic multi-rotor with static hovering capability, even when propellers are tilted and the force/moment actuation is coupled.

6D Physical Interaction with a Fully Actuated Aerial Robot

ImageThis video shows the control of physical interaction for the Tilt-Hex, a fully-actuated hexarotor platform.

Multi-target Exploration with Connected Multiple Robots

ImageThese videos shows a group of aerial robots autonomously maintaining the connectivity while exploring several targets simultaneously in a fully distributed way.

Protocentric Aerial Manipulators: Differential Flatness and Control

Image This video introduces the differential flatness and control of protocentric aerial manipulators with any number of arms and possible elastic joints.

FAST-Hex: a Fully–Actuated by Synchronized–Tilting Hexarotor

Image This video shows the modeling and control of a new hexarotor concept named FAST-Hex: a Fully–Actuated by Synchronized–Tilting Hexarotor.

Landing/Takeoff with a Tethered Quadrotor via Inclined Hovering

Image This video shows the experiments of inclined hovering with a tethered quadrotor and its application to take off and landing on/from inclined surfaces

Aerial Robots with Rigid/Elastic-joint Arms: Controllability Preliminary Experiments

Image This video shows simulations and experiments on the control of a quadrotor aerial robot equipped with a rigid or an elastic-joint arm

Cooperative Aerial Tele-Manipulation with Haptic Feedback

Image This video shows human in the loop simulations with a haptic interface using our method to control a group of aerial robots to cooperatively manipulate an object like a flying hand.

Robust Maneuver Regulation Control for Aerial Vehicle Robots

Image This video shows real-robot experiments using our method on maneuver regulation controller for VTOL aerial robots.

Bearing-based (Camera-like) Multi-robot Localization with Anonymous Measurments

Image This video shows real-robot experiments using our method solving the mutual localization of teams of ground and aerial robots with anonymous bearing (camera-like) measurements.

Flexible/Elastic-joints for Aerial Physical Interaction and Manipulation

Image This video shows our work on the design and control of elastic-joint arm for physical aerial interaction and manipulation.

Fully-actuated Hexarotor Aerial Robot Platform

Image This video shows our work on the design and control of a hexarotor fully-actuated hexarotor platform

Cooperative Mobile Manipulation of an Unknown Load

ImageThese videos show our works on the cooperative manipulation of an unknown load with a group networked mobile robots.

Aerial Physical Interaction with Bilateral Teleoperation

ImageThis video shows our work on the bilateral teleoperation of aerial vehicle with physical interaction.

Total Thrust Modeling and Identification using Onboard Accelerometer only

ImageThis video shows our work on the total thrust modeling and identification using onboard accelerometer and battery level information.

Control and Observation of Tethered Aerial Vehicles

Image These videos show our work on the observation and control of tethered aerial vehicles

The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation

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This video shows a human in the loop simulation demonstrating the use of the "flying hand" a distributed hand made by several UAVs each representing a finger of the hand.

Image-based Road Network Clearing without Localization and without Maps using a Team of UAVs

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This video shows the application of an aerial clearing algorithm whose goal is to let a group of aerial robots to explore a network of roads in a completely decentralized way.

Reshaping the Physical Properties of a Quadrotor through IDA-PBC and its Application to Aerial Physical Interaction

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This video shows some simulation results on the application of a novel type of control for physically interacting UAVs based on the IDA-PBC framework.

Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic Shared Control

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This video shows a novel way to drive teleoperate an aerial robot by integrating bilateral teleoperation with haptic feedback and an autonomous path planner

Using a Quadrotor as a 3D Force Effector

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This video shows experiments on demonstrating a control technique that allows to use a quadrotor as a 3D force effector, i.e., in order to exert a given 3D force on the enviroment.

Vision-based Autonomous Velocity Control of a Quadrotor UAV using an Onboard RGB-D Camera

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These two videos show experiments where a quadrotor platform is able to autonomously regulate its velocity based only on a RGB-D sensor and IMU (External motion capture system is used only as ground truth).

The TeleKyb Framework for a Modular and Extendible ROS-based Quadrotor Control

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This video shows the capabilities of the ROS-based TeleKyb software framework for decentralized control of multiple quadrotors and human-machine interaction and haptic teleoperation.

Bearing-only control of multiple robots in 3D

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These videos show both hardware-in-the-loop simulations and real experiments of a control method that allows a group of mobile robots (e.g., quadrotors) to achieve the desired formation only resorting to bearing (angles) measurements, like the ones that are retrievable from an on-board camera.

Interactive Planning of Persistent Trajectories for Human-Assisted Navigation of Mobile Robots

ImageThis video presents a framework where persistent autonomous behaviors are planned by a robot while the human operator is in charge of modifying online some geometric properties of the current behavior.

Aerial Grasping of a Moving Target with a Quadrotor UAV

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This video illustrates a motion planning technique solving the problem of planning a trajectory that connects two arbitrary states while allowing the a quadrotor UAV to grasp a moving target at some intermediate time.

Rigidity Maintenance Control for Multi-Robot Systems

ImageThese videos shows a group of UAVs autonomously maintaining the rigidity of the formation in a distributed way.

Intercontinental Haptic Control of Multiple UAVs

ImageThis video shows the intercontinental bilateral (with force-feedback) shared control of a group of quadrotor UAVs implemented using a network connection based on a VPN tunnel between Germany and South Korea.

Distributed Pursuit-Evasion without Mapping or Global Localization via Local Frontiers

ImageThese videos show a group of mobile robots (real and simulated ones) while clearing an environment in a decentralized way without using neither global map nor a global localization system. The robots have limited-range communication and perception.

Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance

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These videos show the potentiality of a new decentralized control that ensures the maintenance of a novel concept of connectivity. The generalized connectivity concept is able to embed several constraints, such as obstacle and inter-robot collision avoidance, limited visibility, limited range, and many other both local and global group objectives.

Haptic Shared Control of a Heterogeneous Groups of Mobile Robots with Time-Varying Topology

ImageThis video shows a human operator using a haptic device to teleoperate a group of 9 physically-simulated quadrotors and 3 ground mobile robots by controlling the velocity of only one leader.

In the video UAVs have limited-range and line-of-sight communication and perception. This defines an "interaction graph" whose topology can vary over time depending on the particular state of the system.

Experiments of Decentralized Bilateral Teleoperation of a Group of UAVs with Switching Topology

ImageThese videos show a human operator using a haptic device to teleoperate a group of 4 UAVs by controlling the velocity of only one leader.

In the video UAVs have limited-range and line-of-sight communication and perception. This defines an "interaction graph" whose topology can vary over time depending on the particular state of the system.

Experiments of Semi-Autonomous Haptic Bilateral Teleoperation of Multiple UAVs

ImageThese videos shows an experimental implementation of a bilateral teleoperation of multiple UAVs.
The UAVs act as a group and keep a spatial formation: they behave as a semi-deformable rigid body that translates, rotates, and shrinks because of interaction with the environment (obstacles).
The human operator controls the overall motion of the group and feels on its master device the reflected environmental forces.

Decentralized Bilateral Teleoperation of a Group of UAVs with Switching Topology

ImageThis video shows a human operator using a haptic device to teleoperate a realistic physical simulation of a team made by 6 UAVs (quadcopters) by means of controlling the velocity of only one leader.

Haptic Teleoperation of Multiple UAVs over the Internet

ImageThis video shows a human operator using a haptic device to teleoperate a realistic physical simulation of a team 8 UAVs (quadcopters) in cubic-shape formation.

Distributed 3D Encirclement with Target Localization and Collision Avoidance

ImageThis video shows simulations and experiments of a 3D encirclement strategy for collective control of multiple robots (both 2D and 3D).

Multi-robot pursuit-evasion

Image This video shows a set of significant simulations of the multi-robot pursuit-evasion algorithm. The first part presents a simulation with three searchers in a eight-shaped environment and explains the basic concepts of the algorithm. The second part presents a simulation in a bigger environment, and the third part shows the emergent behavior in open spaces.

Sensor-based Random Graph for multi-robot exploration

Image This video shows simulations and experiments of the SRG (Sensor-based Random Graph) algorithm for multi-robot exploration. The robots are equipped with a laser range-finder. Experiments with small-scale robots are showed.

Mutual localization with anonymous position measures

Image This video shows two mutual localization experiments performed on a team of 5 Khepera III mini-robots equipped with laser range-finders. In the first experiment all robots participate to the mutual localization process, while in the second experiment two robots do not communicate their data to the others, and therefore are identified by the filter as moving obstacles that "look like robots".

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