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M. Jacquet and Franchi, A., “Motor and Perception Constrained NMPC for Torque-controlled Generic Aerial Vehicles”, IEEE Robotics and Automation Letters, vol. 6, pp. 518-525, 2021.PDF icon preprint-pdf (4.15 MB)File video (26.2 MB)
M. Jacquet, Corsini, G., Bicego, D., and Franchi, A., “Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVs”, in 2020 IEEE Int. Conf. on Robotics and Automation, Paris, France, 2020.File video (21.66 MB)PDF icon preprint-pdf (1.53 MB)