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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    Title :

    A Linear Complementarity based MPC for Aerial Physical Interaction




    Publication date :

    2025-05-14


    Size :

    455958 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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