Unmanned Aerial Vehicles (UAVs) have garnered considerable research interest due to their remarkable versatility as they can take off and land vertically, loiter at any 3D position, and execute ...

Abstract: In various power electronic converters bulky capacitors are used as passive energy buffers on the dc bus. In order to reduce the capacitance, some solutions have been proposed to replace ...

A standalone implementation of Predictive Admittance Control (PAC) for Aerial Physical Interaction with fully actuated hexarotors. This project uses Acados for real-time nonlinear model predictive ...