# Direct Force and Pose NMPC with Multiple Interaction Modes for Aerial Push-and-Slide Operations

> Research article (2021 IEEE International Conference on Robotics and Automation (ICRA), 2021) · cited 25× · AI/ML

**Wikidata**: [openalex:W3162024654](https://www.wikidata.org/wiki/openalex:W3162024654)  
**Source**: https://4ort.xyz/entity/direct-force-and-pose-nmpc-with-multiple-interaction-modes-for-aerial-push-and-slide-operations