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Cooperative manipulation and transportation with aerial robots

Authors:

Nathan Michael,

Vijay KumarAuthors Info & Claims

Autonomous Robots, Volume 30, Issue 1

Pages 73 - 86

https://doi.org/10.1007/s10514-010-9205-0

Published: 01 January 2011 Publication History

Abstract

In this paper we consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables. We develop robot configurations that ensure static equilibrium of the payload at a desired pose while respecting constraints on the tension and provide analysis of payload stability for these configurations. We demonstrate our methods on a team of aerial robots via simulation and experimentation.

References

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Cheng, P., Fink, J., Kim, S., & Kumar, V. (2008). Cooperative towing with multiple robots. In Proc. of the int. workshop on the algorithmic foundations of robotics, Guanajuato, Mexico.

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Etkin, B. (1998). Stability of a towed body. Journal of Aircraft, 35(2), 197-205.

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Fink, J., Michael, N., Kim, S., & Kumar, V. (2009). Planning and control for cooperative manipulation and transportation with aerial robots. In Int. symposium of robotics research, Luzern, Switzerland.

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Cited By

Iriarte IGorostiza JIglesias ILasa JCalvo-Soraluze HSierra B(2024)An overactuated aerial robot based on cooperative quadrotors attached through passive universal jointsRobotics and Autonomous Systems10.1016/j.robot.2024.104761180:COnline publication date: 1-Oct-2024
https://dl.acm.org/doi/10.1016/j.robot.2024.104761
Shen YLiu JYuan XSun SCui H(2024)SecuPath: A Secure and Privacy-Preserving Multiparty Path Planning Framework in UAV ApplicationsInformation Security and Privacy10.1007/978-981-97-5101-3_12(213-232)Online publication date: 15-Jul-2024
https://dl.acm.org/doi/10.1007/978-981-97-5101-3_12
Gabellieri CTognon MSanalitro DFranchi A(2023)Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System Subject to Parameter UncertaintyIEEE Transactions on Robotics10.1109/TRO.2023.327903339:5(3977-3993)Online publication date: 1-Oct-2023
https://dl.acm.org/doi/10.1109/TRO.2023.3279033
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Cooperative manipulation and transportation with aerial robots
1. Computer systems organization
  1. Embedded and cyber-physical systems
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
    2. Planning and scheduling

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Published In

cover image Autonomous Robots

Autonomous Robots Volume 30, Issue 1

January 2011

119 pages

ISSN:0929-5593

Issue’s Table of Contents

Copyright © Copyright © 2011 Springer Science+Business Media, LLC.

Publisher

Kluwer Academic Publishers

United States

Publication History

Published: 01 January 2011

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Cited By

Iriarte IGorostiza JIglesias ILasa JCalvo-Soraluze HSierra B(2024)An overactuated aerial robot based on cooperative quadrotors attached through passive universal jointsRobotics and Autonomous Systems10.1016/j.robot.2024.104761180:COnline publication date: 1-Oct-2024
https://dl.acm.org/doi/10.1016/j.robot.2024.104761
Shen YLiu JYuan XSun SCui H(2024)SecuPath: A Secure and Privacy-Preserving Multiparty Path Planning Framework in UAV ApplicationsInformation Security and Privacy10.1007/978-981-97-5101-3_12(213-232)Online publication date: 15-Jul-2024
https://dl.acm.org/doi/10.1007/978-981-97-5101-3_12
Gabellieri CTognon MSanalitro DFranchi A(2023)Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System Subject to Parameter UncertaintyIEEE Transactions on Robotics10.1109/TRO.2023.327903339:5(3977-3993)Online publication date: 1-Oct-2023
https://dl.acm.org/doi/10.1109/TRO.2023.3279033
Shibata KJimbo TMatsubara T(2023)Deep reinforcement learning of event-triggered communication and consensus-based control for distributed cooperative transportRobotics and Autonomous Systems10.1016/j.robot.2022.104307159:COnline publication date: 1-Jan-2023
https://dl.acm.org/doi/10.1016/j.robot.2022.104307
Aldana-López RAragüés RSagüés C(2023)Perception-latency aware distributed target trackingInformation Fusion10.1016/j.inffus.2023.10185799:COnline publication date: 1-Nov-2023
https://dl.acm.org/doi/10.1016/j.inffus.2023.101857
Chaikalis DEvangeliou NTzes AKhorrami F(2023)Modular Multi-Copter Structure Control for Cooperative Aerial Cargo TransportationJournal of Intelligent and Robotic Systems10.1007/s10846-023-01842-1108:2Online publication date: 19-Jun-2023
https://dl.acm.org/doi/10.1007/s10846-023-01842-1
Kremer PSanchez-Lopez JVoos H(2022)A Hybrid Modelling Approach for Aerial ManipulatorsJournal of Intelligent and Robotic Systems10.1007/s10846-022-01640-1105:4Online publication date: 1-Aug-2022
https://dl.acm.org/doi/10.1007/s10846-022-01640-1
Yu GCabecinhas DCunha RSilvestre C(2022)Aggressive maneuvers for a quadrotor-slung-load system through fast trajectory generation and trackingAutonomous Robots10.1007/s10514-022-10035-y46:4(499-513)Online publication date: 1-Apr-2022
https://dl.acm.org/doi/10.1007/s10514-022-10035-y
Brandstätter ASmolka SStoller STiwari AGrosu R(2022)Towards Drone Flocking Using Relative Distance MeasurementsLeveraging Applications of Formal Methods, Verification and Validation. Adaptation and Learning10.1007/978-3-031-19759-8_7(97-109)Online publication date: 22-Oct-2022
https://dl.acm.org/doi/10.1007/978-3-031-19759-8_7
Lan JXu T(2021)Adaptive Fuzzy Consensus Tracking Control for Nonlinear Multiagent Systems with Time-Varying Delays and ConstraintsComplexity10.1155/2021/99402572021Online publication date: 1-Jan-2021
https://dl.acm.org/doi/10.1155/2021/9940257
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