Residual Wrench Certification and Margin-Aware Control Synthesis for Aerial Physical Interaction

arXiv:2609.38707 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-30 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-30

Updated: 2026-09-30

Terminology

• Redundancy — 3× in this paper · explained in 2 episodes
• Allocator — 2× in this paper · explained in 1 episode
• International Conference on Robotics and Automation — 1× in this paper
• Regularization — 1× in this paper · explained in 3 episodes

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