# Human Aware Control on UAV

###### tags: `Github README`

Implementation of the paper [Human-State-Aware Controller for a Tethered Aerial
Robot Guiding a Human by Physical Interaction](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9684670) by Mike Allenspach et al.

## Objectives
- To aid a human in navigating from one position to another, using a tethered aerial vehicle.
- To propose a human-state-aware controller for this system.

## Assumptions
- Mass of the tether is negligible
- Initial coordinates of Human : (0, 0, 1)
- Initial coordinates of Robot : (1.5/√2, 0, 1 + 1.5/√2)
- Desired coordinates of Human : (1, 1, 1)

## Results

## Future Work
- Implementation of the same through LQR controller