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Planning and control for cooperative manipulation and transportation with aerial robots

Authors:

Nathan Michael,

Vijay KumarAuthors Info & Claims

International Journal of Robotics Research, Volume 30, Issue 3

Pages 324 - 334

https://doi.org/10.1177/0278364910382803

Published: 01 March 2011 Publication History

Abstract

We consider the planning and control of multiple aerial robots manipulating and transporting a payload in three dimensions via cables. Individual robot control laws and motion plans enable the control of the payload (position and orientation) along a desired trajectory. We address the fact that robot configurations may admit multiple payload equilibrium solutions by developing constraints for the robot configuration that guarantee the existence of a unique payload pose. Further, we formulate individual robot control laws that enforce these constraints and enable the design of non-trivial payload motion plans. Finally, we propose two quality measures for motion plan design that minimize individual robot motion and maximize payload stability along the trajectory. The methods proposed in the work are evaluated through simulation and experimentation with a team of three quadrotors.

References

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Michael, N., Fink, J. and Kumar, V. ( 2009a). Cooperative manipulation and transportation with aerial robots. Proceedings of Robotics: Science and Systems, Seattle, WA.

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Michael, N., Fink, J. and Kumar, V. ( 2010). Cooperative manipulation and transportation with aerial robots. Autonomous Robots (submitted).

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Michael, N., Kim, S., Fink, J. and Kumar, V. ( 2009b). Kinematics and statics of cooperative multi-robot aerial manipulation with cables. ASME International Design Engineering Technical Conference and Computers and Information in Engineering Conference, San Diego, CA.

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Cited By

Masone CStegagno P(2021)Shared Control of an Aerial Cooperative Transportation System with a Cable-suspended PayloadJournal of Intelligent and Robotic Systems10.1007/s10846-021-01457-4103:3Online publication date: 1-Nov-2021
https://dl.acm.org/doi/10.1007/s10846-021-01457-4
Buzzatto JLiarokapis M(2020)An Agile, Coaxial, Omnidirectional Rotor Module: On the Development of Hybrid, All Terrain Robotic Rotorcrafts2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)10.1109/SSRR50563.2020.9292586(162-168)Online publication date: 4-Nov-2020
https://dl.acm.org/doi/10.1109/SSRR50563.2020.9292586
Pierri FNigro MMuscio GCaccavale F(2020)Cooperative Manipulation of an Unknown Object via Omnidirectional Unmanned Aerial VehiclesJournal of Intelligent and Robotic Systems10.1007/s10846-020-01213-0100:3-4(1635-1649)Online publication date: 1-Dec-2020
https://dl.acm.org/doi/10.1007/s10846-020-01213-0
Show More Cited By

Planning and control for 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 International Journal of Robotics Research

International Journal of Robotics Research Volume 30, Issue 3

March 2011

142 pages

ISSN:0278-3649

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Publisher

Sage Publications, Inc.

United States

Publication History

Published: 01 March 2011

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Cited By

Masone CStegagno P(2021)Shared Control of an Aerial Cooperative Transportation System with a Cable-suspended PayloadJournal of Intelligent and Robotic Systems10.1007/s10846-021-01457-4103:3Online publication date: 1-Nov-2021
https://dl.acm.org/doi/10.1007/s10846-021-01457-4
Buzzatto JLiarokapis M(2020)An Agile, Coaxial, Omnidirectional Rotor Module: On the Development of Hybrid, All Terrain Robotic Rotorcrafts2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)10.1109/SSRR50563.2020.9292586(162-168)Online publication date: 4-Nov-2020
https://dl.acm.org/doi/10.1109/SSRR50563.2020.9292586
Pierri FNigro MMuscio GCaccavale F(2020)Cooperative Manipulation of an Unknown Object via Omnidirectional Unmanned Aerial VehiclesJournal of Intelligent and Robotic Systems10.1007/s10846-020-01213-0100:3-4(1635-1649)Online publication date: 1-Dec-2020
https://dl.acm.org/doi/10.1007/s10846-020-01213-0
Ryll MMuscio GPierri FCataldi EAntonelli GCaccavale FBicego DFranchi A(2019)6D interaction control with aerial robotsInternational Journal of Robotics Research10.1177/027836491985669438:9(1045-1062)Online publication date: 1-Aug-2019
https://dl.acm.org/doi/10.1177/0278364919856694
Abdallah FAzouz NBeji LAbichou A(2019)Dynamic Analysis and Control of a Flying Cable Driven Parallel Manipulator Mounted on an Airship2019 IEEE Intelligent Transportation Systems Conference (ITSC)10.1109/ITSC.2019.8917202(4489-4494)Online publication date: 27-Oct-2019
https://dl.acm.org/doi/10.1109/ITSC.2019.8917202
Erskine JChriette ACaro S(2019)Control and Configuration Planning of an Aerial Cable Towed System2019 International Conference on Robotics and Automation (ICRA)10.1109/ICRA.2019.8794396(6440-6446)Online publication date: 20-May-2019
https://dl.acm.org/doi/10.1109/ICRA.2019.8794396
Shi FZhao MAnzai TChen XOkada KInaba M(2019)External Wrench Estimation for Multilink Aerial Robot by Center of Mass Estimator Based on Distributed IMU System2019 International Conference on Robotics and Automation (ICRA)10.1109/ICRA.2019.8794325(1891-1897)Online publication date: 20-May-2019
https://dl.acm.org/doi/10.1109/ICRA.2019.8794325
Spurny VPetrlik MVonasek VSaska M(2019)Cooperative Transport of Large Objects by a Pair of Unmanned Aerial Systems using Sampling-based Motion Planning2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)10.1109/ETFA.2019.8869298(955-962)Online publication date: 10-Sep-2019
https://dl.acm.org/doi/10.1109/ETFA.2019.8869298
Kim YShell D(2018)Bound to helpAutonomous Robots10.5555/3288899.328897842:8(1563-1582)Online publication date: 1-Dec-2018
https://dl.acm.org/doi/10.5555/3288899.3288978
Kim MBalachandran RDe Stefano MKondak KOtt C(2018)Passive Compliance Control of Aerial Manipulators2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS.2018.8593718(4177-4184)Online publication date: 1-Oct-2018
https://dl.acm.org/doi/10.1109/IROS.2018.8593718
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