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Development of an unmanned helicopter automatic barrels transportation system

Chong Wu, Juntong Qi, Dalei Song, Xin Qi, Tianyu Lin, Jianda Han
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
The main challenges involved in this mission include attitude stabilizing with varying payload, accurate movable platform tracking and task-scheduling.  ...  In the 2nd International Unmanned Aerial Vehicle (UAV) Innovation Grand Prix (UAVGP) sponsored by Aviation Industry Corporation of China (AVIC), an autonomous barrel transportation mission was proposed  ...  Besides, three coupled unmanned helicopters were used for cooperative accurate deployment of loads [11] , which was the first successful autonomous load transportation experiment worldwide.  ... 
doi:10.1109/icra.2015.7139849 dblp:conf/icra/WuQSQLH15 fatcat:i7wqdzgwybdehffuky54wxitbe

Autonomous Cooperative Transportation System involving Multi-Aerial Robots with Variable Attachment Mechanism [article]

Koshi Oishi, Tomohiko Jimbo
2021 arXiv   pre-print
Cooperative transportation by multi-aerial robots has the potential to support various payloads and improve failsafe against dropping.  ...  Furthermore, we performed cooperative transportation of an unknown payload (with a weight of about 3.2 kg and maximum length of 1.76 m) using eight robots.  ...  This limitation can be overcome by implementing cooperative transportation using multiple aerial robots.  ... 
arXiv:2109.10575v1 fatcat:dyqlbngjuza25pli66uiespqhe

Aerial Co-Manipulation With Cables: The Role of Internal Force for Equilibria, Stability, and Passivity

Marco Tognon, Chiara Gabellieri, Lucia Pallottino, Antonio Franchi
2018 IEEE Robotics and Automation Letters  
This paper considers the cooperative manipulation of a cable-suspended load with two generic aerial robots without the need of explicit communication.  ...  Using a nonlinear Lyapunov-based approach, we prove that if a non-zero internal force is chosen, then the asymptotic stabilization of any desired beam attitude can be achieved with a decentralized and  ...  the stability of the load during its transportation.  ... 
doi:10.1109/lra.2018.2803811 dblp:journals/ral/TognonGPF18 fatcat:mmkla6x37va7tdtmx4mfjizdum

Lyapunov based model reference adaptive control for aerial manipulation

Matko Orsag, Christopher Korpela, Stjepan Bogdan, Paul Oh
2013 2013 International Conference on Unmanned Aircraft Systems (ICUAS)  
This paper presents a control scheme to achieve dynamic stability in an aerial vehicle with dual multi-degree of freedom manipulators using a lyapunov based model reference adaptive control.  ...  The simulation results showed how the MRAC is capable of stabilizing the oscillations produced from the unstable PI-D attitude control loop.  ...  They tested formations of up to three small size petrol powered helicopters that cooperatively transport a slung load.  ... 
doi:10.1109/icuas.2013.6564783 fatcat:x7yr4jwtszbxxowytgtwb34n7q

Cooperative Transportation with Multiple Aerial Robots and Decentralized Control for Unknown Payloads [article]

Koshi Oishi, Yasushi Amano, Tomohiko Jimbo
2021 arXiv   pre-print
In this study, a cooperative transportation system was developed using rigidly attached aerial robots, and a decentralized controller was proposed to guarantee asymptotic stability of the tracking error  ...  Cooperative transportation by multiple aerial robots has the potential to support various payloads and to reduce the chance of them being dropped.  ...  The limitation can be overcome by implementing a cooperative transportation system using multiple aerial robots.  ... 
arXiv:2111.01963v1 fatcat:4mmxdmn4gfftfhl6mc6cgnz2va

Subject Index

2011 Journal of Guidance Control and Dynamics  
Vehicles G11-122 Cooperative Target Localization with a Communication-Aware Unmanned Aircraft Sys- tem G11-050 Decentralized Geolocation and Bias Estimation for Uninhabited Aerial Vehicles with Articulating  ...  Vector Measurements and Unknown Gyro Bias Redundancy Management G11-033 Load Balancing in Control Allocation Robotics G11-178 Globally Asymptotic Stabilization of Spacecraft with Simple Saturated Proportional  ... 
doi:10.2514/1.56394 fatcat:h2hs6frx4fhmfmklgp5pzdavdy

Geometric Control of two Quadrotors Carrying a Rigid Rod with Elastic Cables [article]

Jacob R. Goodman, Leonardo J. Colombo
2021 arXiv   pre-print
This paper presents the design of a geometric trajectory tracking controller for the cooperative task of two quadrotor UAVs (unmanned aerial vehicles) carrying and transporting a rigid bar, which is attached  ...  The elasticity of the cables together with techniques of singular perturbation allows a reduction in the model to that of a similar model with inelastic cables.  ...  Maithripala from University of Peradeniya, for helpful discussions about the modelling of cooperative tasks with quadrotors.  ... 
arXiv:2104.06155v1 fatcat:3i5wltxxlvbz5hwhuwttlyqfwe

Task-based control of a multirotor miniature aerial vehicle having an onboard manipulator

J. Escareno, G. Flores, M. Rakotondrabe, H. Romero, R Lozano, E. Rubio
2014 2014 International Conference on Unmanned Aircraft Systems (ICUAS)  
The controller corresponding stability proofs are presented and the performance of the control strategy is evaluated at simulation level. J.  ...  The main goal is to outstrip the current operational profile, specially in the civilian field, by endowing classical MAV configurations with novel capabilities to interact with the surrounding environment  ...  GRASP Research team uses different cooperative quadrotors fleet configurations to transport corresponding load geometries by means of gripper and cables [3] .  ... 
doi:10.1109/icuas.2014.6842333 fatcat:ogncma3xyzbpbfr7qcrk7fri2i

Attitude stabilization control of an aerial manipulator using a quaternion-based backstepping approach

Stefano Di Lucia, Gian Diego Tipaldi, Wolfram Burgard
2015 2015 European Conference on Mobile Robots (ECMR)  
Aerial manipulation is a new research area that extends the potential of aerial vehicles, allowing them to physically interact with the environment.  ...  We show how the attitude control, using a quaternion-based backstepping, is able to react to the disturbances caused by the arm.  ...  Moreover, it is possible to consider multiple UAVs for cooperative tasks (e.g., transportation of heavy payload or cooperative building) like proposed in the ARCAS (Aerial Robotics Cooperative Assembly  ... 
doi:10.1109/ecmr.2015.7324191 dblp:conf/ecmr/LuciaTB15 fatcat:b6n4sxpsujhlrmmkpzfntd27fq

Cooperative Load Transportation with Two Quadrotors Using Adaptive Control

Daniel Khede Dourado Villa, Alexandre Santos Brandao, Ricardo Carelli, Mario Sarcinelli-Filho
2021 IEEE Access  
The aerial vehicles and the load are dealt with as a single system, whose kinematics is described as a multi-robot formation using the virtual structure approach.  ...  parameters, transportation under wind disturbances, and payload weight changes during flight.  ...  , for load transportation with quadrotors.  ... 
doi:10.1109/access.2021.3113466 fatcat:kgczixzif5cufghrz7suqlcxl4

Grasping from the air: Hovering capture and load stability

Paul E. I. Pounds, Daniel R. Bersak, Aaron M. Dollar
2011 2011 IEEE International Conference on Robotics and Automation  
We demonstrate that dynamic load disturbances introduced by the load mass will be rejected by a helicopter with PID flight control.  ...  This paper reports recent research efforts to advance the functionality of Unmanned Aerial Vehicles (UAVs) beyond passive observation to active interaction with and manipulation of objects.  ...  Several limited examples of flying vehicles physically interacting with objects have been demonstrated, such as inflight refueling [1, 2] and the transport of slung loads, both individually and cooperatively  ... 
doi:10.1109/icra.2011.5980314 dblp:conf/icra/PoundsBD11 fatcat:fk7ape7md5fjhhccsxxsghqgz4

2010 Journal of Guidance, Control and Dynamics Subject Index

2010 Journal of Guidance Control and Dynamics  
Vehicle and Aerial Refueling G10-161 Bounds on the RMS Miss of Radar- Guided Missiles G10-164 Robust Adaptive Design for Aerial Vehicles with State-Limiting Constraints G10-036 Stability Analysis of Switched  ...  GUIDANCE, VOL. 33, NO. 6: 2010 INDEX G10-026 Homing Guidance Law for Cooperative Attack of Multiple Missiles G10-096 Design of a Roll-Stabilized Mortar Projectile with Reciprocating Canards G10-172 Robust  ... 
doi:10.2514/1.52477 fatcat:kvlsdca6hvhqfpvldlp2pwwon4

Event-triggered leader-following consensus of UAVs carrying a suspended load

A. Vega-Alonzo, J.F. Guerrero-Castellanos, N. Marchand, S. Durand, G. Mino-Azuilar, V. R. Gonzalez-Diaz
2019 2019 5th International Conference on Event-Based Control, Communication, and Signal Processing (EBCCSP)  
minimum swing for the suspended load.  ...  The stability of the complete system is carried out, and numerical results show the advantages wrt information exchange between UAVs, as well as excellent performance in the angular stabilization and the  ...  Attitude control Firstly, one proposes a simple and robust control law that stabilizes the attitude.  ... 
doi:10.1109/ebccsp.2019.8836720 dblp:conf/ebccsp/Vega-AlonzoGMDM19 fatcat:ya27x5pbfzb2xmaejaj6cwxkzi

A study on force-based collaboration in swarms

Chiara Gabellieri, Marco Tognon, Dario Sanalitro, Lucia Pallottino, Antonio Franchi
2019 Swarm Intelligence  
For a system with just one leader, we present analytical results on the equilibrium configurations and their stability that are then validated by numerical simulations.  ...  Cooperative manipulation is a basic skill in groups of humans, animals, and in many robotic applications.  ...  Although it is not very common in the literature of collaborative transportation, here we focus on the precise regulation of the load attitude as well.  ... 
doi:10.1007/s11721-019-00178-7 fatcat:nxtmxg4x2nezrb6c72a3tc2qbu

Towards Cooperative Transport of a Suspended Payload via Two Aerial Robots with Inertial Sensing [article]

Heng Xie, Xinyu Cai, Pakpong Chirarattananon
2020 arXiv   pre-print
This paper addresses the problem of cooperative transport of a point mass hoisted by two aerial robots.  ...  The outcomes demonstrate promising progress towards the goal of autonomous cooperative transport of a suspended payload via small flying robots with minimal sensing and computational requirements.  ...  This paper focuses on the cooperative transport of a suspended payload by multiple MAVs.  ... 
arXiv:2007.14880v1 fatcat:v6c4ezyawvfg7bouvodn5gvwyq
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