https://tiar.r-franchi.eu/feed.xmlNew works added to the selective Theory in Aerial Robotics index.2026-10-15T12:00:00ZAntonio Franchiurn:arxiv:2610.161192026-10-15T12:00:00Z2026-10-15T12:00:00Z

Yan Rui Tan, Praveen Krishnapur, Zeyu Feng, Han Bao, Yew-Soon Ong, Fan Shi Added to TIAR: 2026-10-15 First public: 2026-10-12 Topic: Robust, Adaptive, and Learning-Based Control Contribution type: Control framework Platform: Multirotors Differentiable simulation enables efficient policy optimization through analytic gradients, yet safety is commonly incorporated as a weighted penalty, requiring manual tuning of the trade-off between task performance and constraint satisfaction.

urn:arxiv:2610.145222026-10-15T12:00:00Z2026-10-15T12:00:00Z

Yanze Liu, Yaşar İdikut, Dhruv Madhusudan Agrawal, Wei Xiao, Guanrui Li Added to TIAR: 2026-10-15 First public: 2026-10-10 Topic: Nonlinear and Geometric Control Contribution type: Control framework Platform: Multirotors Safety-critical quadrotor navigation in cluttered environments typically relies on hierarchical architectures in which a high-level safety filter modifies position references that are then tracked by a separate attitude controller.

urn:arxiv:2610.109872026-10-15T12:00:00Z2026-10-15T12:00:00Z

Massimiliano de Sa, Aaron D. Ames Added to TIAR: 2026-10-15 First public: 2026-10-07 Topic: Nonlinear and Geometric Control Contribution type: Structural characterization Platform: Multirotors Underactuated systems with nontrivial geometry are abundant in practical robotic problems.

urn:arxiv:2610.086972026-10-15T12:00:00Z2026-10-15T12:00:00Z

Johannes Schrotshamer, Bernd Kolar, Markus Schöberl Added to TIAR: 2026-10-15 First public: 2026-10-06 Topic: Nonlinear and Geometric Control Contribution type: Structural characterization Platform: Multirotors In this contribution, we address the exact linearization of forward- and backward-flat discrete-time nonlinear systems with an arbitrary number of inputs.

urn:arxiv:2610.086952026-10-15T12:00:00Z2026-10-15T12:00:00Z

Ondřej Procházka, Juraj Pauko, Robert Pěnička, Martin Saska Added to TIAR: 2026-10-15 First public: 2026-10-06 Topic: Optimal and Predictive Control Contribution type: Control framework Platform: Multirotors Flying a quadrotor through a cluttered environment requires not only planning a collision-free reference trajectory based on perceived obstacles, but the reference also needs to be dynamically feasible and within the actuation limits of the vehicle, so that the controller can track it precisely.

urn:arxiv:2610.083062026-10-15T12:00:00Z2026-10-15T12:00:00Z

Welf Rehberg, Kostas Alexis Added to TIAR: 2026-10-15 First public: 2026-10-06 Topic: Estimation, Observability, and Identification Contribution type: Modeling framework Platform: Multirotors Existing visual navigation policies are inherently bound to fixed camera configurations, creating a fundamental barrier to zero-shot deployment across heterogeneous robot sensor layouts.

urn:arxiv:2610.081772026-10-15T12:00:00Z2026-10-15T12:00:00Z

Antonio Franchi, Aaron Saini, Ahmed Ali, Chiara Gabellieri Added to TIAR: 2026-10-15 First public: 2026-10-06 Topic: Estimation, Observability, and Identification Contribution type: Modeling framework Platform: Multirotors Speed-only aerodynamic power models for multirotor propulsion cannot represent acceleration-dependent effects.

urn:arxiv:2610.066292026-10-15T12:00:00Z2026-10-15T12:00:00Z

Mohammad Mirtaba, Max H. Cohen Added to TIAR: 2026-10-15 First public: 2026-10-05 Topic: Nonlinear and Geometric Control Contribution type: Control framework Platform: Multirotors Vector field tracking for quadrotors provides a systematic framework for specifying complex behaviors at the translational level and transferring them to the full vehicle dynamics.

urn:arxiv:2606.308042026-10-15T12:00:00Z2026-10-15T12:00:00Z

Hiranya Udagedara, Adam Bigsby, Mahdis Bisheban Added to TIAR: 2026-10-15 First public: 2026-06-29 Topic: Estimation, Observability, and Identification Contribution type: Control framework Platform: Multirotors Use of quadrotor UAVs for wind velocity estimation is gaining popularity in recent studies, leveraging their maneuverability, compact size and low cost.

urn:arxiv:2609.402012026-10-04T12:00:00Z2026-10-04T12:00:00Z

Minsen Yuan, Amanuel Adane, James Humann, Yue Yu Added to TIAR: 2026-10-04 First public: 2026-09-30 Topic: Planning and Trajectory Generation Contribution type: Modeling framework Platform: General aerial vehicles Smooth nonlinear trajectory-optimization models for UAV missions with mobile charging, nonlinear charging dynamics, disjunctive constraints, and bounded approximation errors.

urn:arxiv:2609.401022026-10-04T12:00:00Z2026-10-04T12:00:00Z

Antonio Franchi, Amr Afifi Added to TIAR: 2026-10-04 First public: 2026-09-30 Topic: Tethered, Suspended, and Constrained Systems Contribution type: New theory or framework Platform: Cable-suspended aerial systems Gravity-aware quasi-static theory deriving the passive Cartesian stiffness induced by movable compliant aerial anchors and enabling local constraint-preserving stiffness shaping.

urn:arxiv:2609.345942026-10-04T12:00:00Z2026-10-04T12:00:00Z

Zeshuai Chen, Meng Wang, Jindou Jia, Xiang Yu, Lei Guo Added to TIAR: 2026-10-04 First public: 2026-09-28 Topic: Planning and Trajectory Generation Contribution type: Synthesis method Platform: Aerial manipulators Inverse-game prediction and receding-horizon planning for aerial capture, using online objective inference and an efficient gradient-based Nash-strategy solver.

urn:arxiv:2609.293192026-10-04T12:00:00Z2026-10-04T12:00:00Z

Leon Raguse, Lennart Kracke, Mayank Shekhar Jha, Johannes Autenrieb, Mark Spiller Added to TIAR: 2026-10-04 First public: 2026-09-24 Topic: Robust, Adaptive, and Learning-Based Control Contribution type: Control framework Platform: Fixed-wing aircraft Learning-based adaptive augmentation with safety filtering, pseudo-control-hedging reference modification, and disturbance observation for fixed-wing uncertainty compensation.

urn:arxiv:2609.247612026-10-04T12:00:00Z2026-10-04T12:00:00Z

Rishabh Dev Yadav, Saksham Gupta, Amitabh Sharma, Sarthak Mishra, Wei Pan, Spandan Roy, Simone Baldi Added to TIAR: 2026-10-04 First public: 2026-09-21 Topic: Robust, Adaptive, and Learning-Based Control Contribution type: Formal guarantee Platform: Aerial manipulators Switched adaptive control without prior coupling knowledge, with a characterized class of switching signals guaranteeing stability through dynamic transitions.

urn:arxiv:2609.239182026-10-04T12:00:00Z2026-10-04T12:00:00Z

Mohamed Al Lawati, Adeel Akhtar Added to TIAR: 2026-10-04 First public: 2026-09-20 Topic: Robust, Adaptive, and Learning-Based Control Contribution type: Formal guarantee Platform: Multirotors Quasi-static fault-tolerant feedback characterizing and stabilizing the path-following manifold under rotor failure, with path-invariance and local exponential-convergence guarantees.

urn:arxiv:2609.193622026-10-04T12:00:00Z2026-10-04T12:00:00Z

Omayra Yago Nieto, Leonardo Colombo Added to TIAR: 2026-10-04 First public: 2026-09-16 Topic: Robust, Adaptive, and Learning-Based Control Contribution type: Structural characterization Platform: Multirotors Characterization of barrier-effectiveness loss and aggregate infeasibility, with a torque-aware high-order construction providing robust collision-avoidance guarantees.

urn:arxiv:2609.135882026-10-04T12:00:00Z2026-10-04T12:00:00Z

Antonio Franchi, Mirko Mizzoni Added to TIAR: 2026-10-04 First public: 2026-09-11 Topic: Control Allocation and Redundant Actuation Contribution type: Impossibility or limitation result Platform: Multirotors Differential-realizability theory separating structural rank loss from pseudoinverse-induced rate singularity and providing local and global regular-section constructions.

urn:arxiv:2609.129222026-10-04T12:00:00Z2026-10-04T12:00:00Z

Antonio Franchi, Alberto Landi, Chiara Gabellieri Added to TIAR: 2026-10-04 First public: 2026-09-11 Topic: Tethered, Suspended, and Constrained Systems Contribution type: Structural characterization Platform: Cable-suspended aerial systems Explicit cable-length realization law and geometric characterization of bounded non-stop carrier motion, including a two-carrier obstruction and constructive conditions for three or more carriers.

urn:arxiv:2609.116982026-10-04T12:00:00Z2026-10-04T12:00:00Z

Erchao Rong, Zihao Liu, Junning Liang, Jianguo Wang, Xiao Jie, Haoran Fu, Ziliang Chen, Ximin Lyu Added to TIAR: 2026-10-04 First public: 2026-09-10 Topic: Aerodynamics and Flight Modeling Contribution type: Modeling framework Platform: Hybrid-transition vehicles Aerodynamic-prior-free framework deriving an analytic differential-flatness mapping and combining phase-specific models with predictive control and online aerodynamic-parameter estimation.

urn:arxiv:2608.254592026-10-04T12:00:00Z2026-10-04T12:00:00Z

Massimiliano Bertoni, Alberto Piccina, Gianni Lunardi, Elias Fontanari, Andrea Del Prete, Angelo Cenedese, Giulia Michieletto Added to TIAR: 2026-10-04 First public: 2026-08-26 Topic: Optimal and Predictive Control Contribution type: Formal guarantee Platform: Fully actuated aerial vehicles Viability-theoretic MPC generating safe pose trajectories through dynamically computed admissible regions, with formal obstacle-avoidance guarantees and no exhaustive offline reachability analysis.

urn:arxiv:2608.206552026-10-04T12:00:00Z2026-10-04T12:00:00Z

Nishanth Bobbili, Pratyaksh Rao, Luca Morando, Luca Masci, Giuseppe Loianno Added to TIAR: 2026-10-04 First public: 2026-08-21 Topic: Optimal and Predictive Control Contribution type: Control framework Platform: Fixed-wing aircraft Unified differential-flatness trajectory generation and nonlinear predictive control with wind-aware sampling and explicit aerodynamic and input constraints.

urn:arxiv:2608.178192026-10-04T12:00:00Z2026-10-04T12:00:00Z

Jinjie Li, Yicheng Chen, Johannes Kübel, Haokun Liu, Junichiro Sugihara, Moju Zhao Added to TIAR: 2026-10-04 First public: 2026-08-18 Topic: Physical Interaction and Manipulation Contribution type: Control framework Platform: Aerial manipulators Effector-centric nonlinear predictive control integrating tiltable-multirotor design choices, null-space singularity traversal, model-error compensation, and external-wrench estimation.

urn:arxiv:2608.163352026-10-04T12:00:00Z2026-10-04T12:00:00Z

Giuseppe Silano Added to TIAR: 2026-10-04 First public: 2026-08-17 Topic: Control Allocation and Redundant Actuation Contribution type: Formal guarantee Platform: Multirotors Control-barrier formulation rendering actuator authority forward invariant through null-space allocation, with certified-set conditions, closed-form rotor-deactivation cost, and robustness bounds.

urn:arxiv:2608.109872026-10-04T12:00:00Z2026-10-04T12:00:00Z

Christian Lanegger, Marco Ruggia, Marco Tognon, Lionel Ott, Roland Siegwart Added to TIAR: 2026-10-04 First public: 2026-08-11 Topic: Actuation, Morphology, and Control-Oriented Design Contribution type: Synthesis method Platform: Aerial manipulators Control-oriented synthesis of a compliant, multi-contact, actuated end-effector using a stability-optimized Gough-Stewart mechanism for millimeter-accurate aerial interaction.

urn:arxiv:2607.253702026-10-04T12:00:00Z2026-10-04T12:00:00Z

Jasper J. van Beers, Prashant Solanki, Erik-Jan van Kampen, Coen C. de Visser Added to TIAR: 2026-10-04 First public: 2026-07-28 Topic: Estimation, Observability, and Identification Contribution type: New theory or framework Platform: Multirotors Model-free loss-of-control forecasting based on critical slowing down, providing early-warning indicators that transfer across quadrotor platforms, controllers, and loss-of-control scenarios.

urn:arxiv:2607.227682026-10-04T12:00:00Z2026-10-04T12:00:00Z

Akshay Gupta Burela, P. B. Sujit Added to TIAR: 2026-10-04 First public: 2026-07-24 Topic: Actuation, Morphology, and Control-Oriented Design Contribution type: Modeling framework Platform: Multirotors Deterministic multidisciplinary design optimization resolving coupled structural, aerodynamic, electrochemical, and kinematic models while mapping continuous optima to discrete purchasable components.

urn:arxiv:2607.100992026-10-04T12:00:00Z2026-10-04T12:00:00Z

Peter Böhm, Michael Brünig, Peyman Z. Moghadam, Pauline E.I. Pounds Added to TIAR: 2026-10-04 First public: 2026-07-11 Topic: Aerodynamics and Flight Modeling Contribution type: Control framework Platform: Multirotors Direct generated-thrust sensing and high-bandwidth feedback regulation for rejecting gust, inflow, and ground-effect disturbances before they propagate into vehicle motion.