ArXiv TLDR

Antonio Franchi

2 papers · Latest:

Robotics

Lie Group Formulation of Recursive Dynamics Algorithms of Higher Order for Floating-Base Robots

This paper presents Lie-group formulations for higher-order dynamics of floating-base robots, showing quadratic scaling in computational cost.

2605.06498
Robotics

Sensitivity-Based Tube NMPC for Cooperative Aerial Structures Under Parametric Uncertainty

This paper introduces a sensitivity-based tube NMPC for cooperative aerial chains, robustly handling parametric uncertainty with improved constraint margins.

2604.25766

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