Type de soutenance
Thèse
Date de début
Date de fin
Lieu
IRISA Rennes
Salle
Métivier
Orateur
Lorenzo Balandi
Département principal
Sujet
Aerial physical interaction promises to bring robotic dexterity to hardly accessible locations, but extending it beyond quasi-static tasks requires advances in design and control.
This thesis addresses agile flight under uncertainty and advanced aerial interaction through a system-level approach combining hardware development with model-based and learning-based control.
First, an optimization-based inner-loop controller combines acceleration feedback and actuation constraints to improve tracking under uncertainty, supported by a novel vibration damping system for onboard electronics.
The thesis then presents an aerial manipulator with a torque-controlled arm and a whole-body nonlinear model predictive controller. Extensive experiments demonstrate agile motion, collision avoidance, versatile contact exploitation, force tracking, and transparent physical interaction with humans.
Finally, learning-based control is investigated and a policy for full-pose control is trained using reinforcement learning and deployed on a fully actuated aerial vehicle without further adaptation, directly commanding rotor velocities. The framework is extended to non-prehensile aerial manipulation, with preliminary sim-to-sim validation.
Composition du jury
- Giuseppe LOIANNO, Professeur associé, UC Berkeley, Berkeley, États-Unis, rapporteur
- Nicolas MANSARD, Directeur de Recherche, LAAS-CNRS, Toulouse, France, rapporteur
- Chiara GABELLIERI, Maître de conférences, University of Twente, Enschede, Pays-Bas, examinatrice
- Ludovic RIGHETTI, Professeur, New York University, New York, États-Unis, examinateur
- Jacques GANGLOFF, Professeur, Université de Strasbourg, Strasbourg, France
- Paolo ROBUFFO GIORDANO, Directeur de Recherche, CNRS, IRISA Rennes, Rennes, France, directeur de thèse
- Marco TOGNON & Chargé de Recherche, INRIA Rennes, Rennes, France, co-directeur de thèse
- Nicolas MANSARD, Directeur de Recherche, LAAS-CNRS, Toulouse, France, rapporteur
- Chiara GABELLIERI, Maître de conférences, University of Twente, Enschede, Pays-Bas, examinatrice
- Ludovic RIGHETTI, Professeur, New York University, New York, États-Unis, examinateur
- Jacques GANGLOFF, Professeur, Université de Strasbourg, Strasbourg, France
- Paolo ROBUFFO GIORDANO, Directeur de Recherche, CNRS, IRISA Rennes, Rennes, France, directeur de thèse
- Marco TOGNON & Chargé de Recherche, INRIA Rennes, Rennes, France, co-directeur de thèse