This project contains the git repository for the IROS2022 - RA-L paper submission titled Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case.

The REPOSITORY contains the source code of the controller, and the complementary modules that are not available on git.openrobots.

The WIKI contains all the information required to install the software locally, and run the Gazebo simulations with the proposed control framework.


Gianluca Corsini 1 -
Martin Jacquet 1 -
Hemjyoti Das 2 -
Amr Afifi 2 -
Daniel Sidobre 1 -
Antonio Franchi 2,1 - ;

1: LAAS-CNRS, Université de Toulouse, CNRS, INSA, UPS, Toulouse, France
2: Robotics and Mechatronics Lab, Faculty of Electrical Engineering, Mathematics & Computer Science, University of Twente, Enschede, The Netherlands

This work was partially funded by the ANR, under the Projects ANR-18-CE33-0001 `The flying coworker' and ANR-17-CE33-0007 `MuRoPhen', and by the European Commission project H2020 AERIAL-CORE (EC 871479).

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Project administrator: Gianluca Corsini