Maximilian Brunner

Maximilian Brunner, Gregor Gantner, Christoph Lietz et al.

We study an iterative Galerkin method for quasilinear elliptic problems in the Browder-Minty setting. The resulting discrete nonlinear systems are solved by linearization via a (damped) Zarantonello iteration. Unlike prior work, adaptive mesh refinement is driven by an elliptic reconstruction error estimator, which is natural in the sense that the a posteriori bounds for the linearization and discretization errors are well separated. For this setting, we present the first comprehensive convergence analysis of the corresponding algorithm. We prove unconditional full R-linear convergence of a suitable quasi-error that combines linearization and discretization errors. For sufficiently small adaptivity parameters, we further establish optimal convergence rates with respect to the number of degrees of freedom and quasi-optimal complexity, i.e., optimal convergence rates with respect to the overall computational cost. Numerical experiments underpin the theoretical findings.

Maximilian Brunner, Livio Giacomini, Roland Siegwart et al.

Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environments, proposing strongly model-based approaches. However, in real scenarios, modeling the environment with high accuracy is often impossible. In this work we aim at developing a control framework for OMAVs for reliable physical interaction tasks with articulated and movable objects in the presence of possibly unforeseen disturbances, and without relying on an accurate model of the environment. Inspired by previous applications of energy-based controllers for physical interaction, we propose a passivity-based impedance and wrench tracking controller in combination with a momentum-based wrench estimator. This is combined with an energy-tank framework to guarantee the stability of the system, while energy and power flow-based adaptation policies are deployed to enable safe interaction with any type of passive environment. The control framework provides formal guarantees of stability, which is validated in practice considering the challenging task of pushing a cart of unknown mass, moving on a surface of unknown friction, as well as subjected to unknown disturbances. For this scenario, we present, evaluate and discuss three different policies.