Fig. 5: Performance of the NMPC in terms of path following and stability during the interaction phase for different values of stiffness. | Nature Communications

Fig. 5: Performance of the NMPC in terms of path following and stability during the interaction phase for different values of stiffness.

From: Synergistic morphology and feedback control for traversal of unknown compliant obstacles with aerial robots

Fig. 5

A tracking error of the lateral position; B longitudinal velocity; C max longitudinal force; D oscillations on the roll attitude; E oscillations on the pitch attitude. Mann–Whitney U test performed for all possible combination of distribution; box plots indicate median (middle line), 25th, 75th percentile (box) and 5th and 95th percentile (whiskers) as well as outliers (single points); number of tests used for the statistical analysis = 9 for each stiffness (over a total of ten experiments each); p > 0.05, *p ≤ 0.05, **p ≤ 0.01. F Success rate (SR %) of the proposed strategy for the different values of stiffness K.

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