Decentralized Leader-Follower Visual Cooperative Package Transportation using Unmanned Aerial Manipulators

Dimitris Chaikalis, Nikolaos Evangeliou, Anthony Tzes, Farshad Khorrami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper is concerned with the problem of cooperative transportation of payloads by teams of unmanned aerial multirotor vehicles equipped with dexterous robotic arms. In order to increase the autonomy of such systems, a leader-follower setting is implemented. The leader UAV dictates the motion and all other follower UAVs attempt to maintain their desired relative pose with respect to the leader. A fiducial marker structure is attached to the leader, which allows all followers to continuously visually track the leader. Each robotic arm is equipped with force-torque sensors at its end-effector for improving the UAVs' flight stability. Specialized controllers are designed for the aerial manipulator systems, in order to ensure a compliant behavior against forces transmitted through the payload. Simulations are provided using the Gazebo environment in order to validate the proposed control methods.

Original languageEnglish (US)
Title of host publication2023 European Control Conference, ECC 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9783907144084
DOIs
StatePublished - 2023
Event2023 European Control Conference, ECC 2023 - Bucharest, Romania
Duration: Jun 13 2023Jun 16 2023

Publication series

Name2023 European Control Conference, ECC 2023

Conference

Conference2023 European Control Conference, ECC 2023
Country/TerritoryRomania
CityBucharest
Period6/13/236/16/23

ASJC Scopus subject areas

  • Control and Optimization
  • Modeling and Simulation

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