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Design and Experimental Evaluation of Distributed Cooperative Transportation of Cable Suspended Payloads with Micro Aerial Vehicles

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Experimental Robotics (ISER 2020)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 19))

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Abstract

Micro Aerial Vehicles (MAVs) can play an important role in helping to accomplish tasks that are physically too dangerous or complex for humans. A team of aerial robots can cooperatively transport objects that are too large or heavy to be carried by a single MAV. This paper address the design and experimental evaluation of a distributed cooperative control method for cooperative transportation of cable-suspended payloads using MAVs. The key contributions of this paper are: i) a distributed control method for cooperative transportation of cable-suspended payloads with a team of quadrotors is experimentally designed and evaluated and allows to control both the load position and orientation, ii) our solution is light-weight and can run on-board small robots equipped with computationally limited units, iii) we study and analyze the system’s performances and maneuverability based on different cable lengths.

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    www.ros.org.

  2. 2.

    www.vicon.com.

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Acknowledgments

This work was supported by Qualcomm Research, the ARL grant DCIST CRA W911NF-17-2-0181, the Technology Innovation Institute, Nokia, NYU Wireless, and the young researchers program “Rita Levi di Montalcini” 2017 grant PGR17W9W4N.

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Authors and Affiliations

  1. Tandon School of Engineering, New York University, 5 MetroTech Center, Brooklyn, NY, 11201, USA

    Guanrui Li & Giuseppe Loianno

Authors
  1. Guanrui Li
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  2. Giuseppe Loianno
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Correspondence to Guanrui Li .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy

    Bruno Siciliano

  2. Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore

    Cecilia Laschi

  3. Department of Computer Science, Stanford University, Stanford, CA, USA

    Oussama Khatib

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Li, G., Loianno, G. (2021). Design and Experimental Evaluation of Distributed Cooperative Transportation of Cable Suspended Payloads with Micro Aerial Vehicles. In: Siciliano, B., Laschi, C., Khatib, O. (eds) Experimental Robotics. ISER 2020. Springer Proceedings in Advanced Robotics, vol 19. Springer, Cham. https://doi.org/10.1007/978-3-030-71151-1_3

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