---
# System prepended metadata

title: Human Aware Control on UAV
tags: [Github README]

---

# 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
