TY - GEN
T1 - Decentralized Leader-Follower Visual Cooperative Package Transportation using Unmanned Aerial Manipulators
AU - Chaikalis, Dimitris
AU - Evangeliou, Nikolaos
AU - Tzes, Anthony
AU - Khorrami, Farshad
N1 - Publisher Copyright:
© 2023 EUCA.
PY - 2023
Y1 - 2023
N2 - 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.
AB - 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.
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U2 - 10.23919/ECC57647.2023.10178351
DO - 10.23919/ECC57647.2023.10178351
M3 - Conference contribution
AN - SCOPUS:85166485155
T3 - 2023 European Control Conference, ECC 2023
BT - 2023 European Control Conference, ECC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 European Control Conference, ECC 2023
Y2 - 13 June 2023 through 16 June 2023
ER -