Merge branch 'release' of github.com:gsilano/gsilano.github.io into r…

…elease

_bibliography/refs.bib

@@ -342,7 +342,7 @@ @INPROCEEDINGS{Silano2020MBZIRC
  booktitle   = {MBZIRC Symposium 2020, the First International Robotic Challenges Symposium},
  title       = {{A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Aerial Vehicles}},
  year        = {2020},
- group       = {conferences},
+ group       = {workshops},
  month       = {2},
  note        = {Abu Dhabi, United Arab Emirates},
  abstract    = {This paper presents a general control architecture for using fully actuated aerial robots in tasks that require both visual servoing and physical interaction with the environment. We make use of a novel paradigm for physical interaction in aerial robotics called "The Flying End-Effector" and integrate it with a hybrid visual servoing scheme. The proposed control architecture allows a fully actuated aerial robot to be visually driven to a goal using an on-board camera while achieving bounded force exchange with the environment without the need for a force/torque sensor. The hybrid visual servoing scheme is integrated with an admittance filter, while a wrench observer is used to get an estimate for the interaction wrench. We intend to make use of this control architecture for pick and place operations within the Mohamed Bin Zayed International Robotics Competition (MBZIRC). In particular, the proposed framework will be used to build a wall composed by different bricks. The overall control scheme is validated experimentally on a picking task. The experiments show the viability of the proposed control architecture and provide insights on the present limitations.}