This paper presents a general MPC-based control framework that includes the linear complementarity problem (LCP) for modeling the interaction forces of a mobile robot. To validate our approach, two case studies are considered: ($i$) an aerial robot that should reach a target point placed on a frictionless surface; and ($ii$) an aerial robot that should lift a cable-suspended mass, switching from a slack to a taut cable condition. The simulation results confirm the validity of our approach, and the ability of the LCP to model the interaction forces for an aerial platform.


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    Titel :

    A Linear Complementarity based MPC for Aerial Physical Interaction


    Beteiligte:


    Erscheinungsdatum :

    14.05.2025


    Format / Umfang :

    455958 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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