TY - GEN
T1 - Modular, Tethered, Reconfigurable Hybrid Robotic Vehicles for Aerial Grasping and Package Delivery
AU - Kobayashi, Masahiro
AU - Huang, Geoffrey
AU - Buzzatto, Joao
AU - Lynch, Angus
AU - Kyriakopoulos, Kostas
AU - Liarokapis, Minas
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - Unmanned Aerial Vehicles (UAVs) are rapidly emerging as the next-generation solution for delivering pay-loads. In recent years, numerous designs have been proposed, each offering distinct approaches to this challenge. Presently, existing systems tend to be cumbersome and tailored for specific applications, which hinders their flexibility for accommodating different environments or payloads. This work focuses on the development of a versatile, scalable, and modular drone delivery system. The system comprises modular mobile robots equipped with a propulsion unit, omnidirectional wheels, and a coupler mechanism, enabling assembly so as to form rigid inter-module connections. These drones possess the ability to accommodate various payloads by utilising tethers and contact pads, allowing them to conform to the shape of the packages. The implemented system architecture is composed of four distinct modules, consisting of one parent module and three child modules, all interconnected through a tethering system. This paper aims to demonstrate the capabilities of the tethered multi-drone system by performing coordinated motions of the modules for payload grasping and flights with and without payload.
AB - Unmanned Aerial Vehicles (UAVs) are rapidly emerging as the next-generation solution for delivering pay-loads. In recent years, numerous designs have been proposed, each offering distinct approaches to this challenge. Presently, existing systems tend to be cumbersome and tailored for specific applications, which hinders their flexibility for accommodating different environments or payloads. This work focuses on the development of a versatile, scalable, and modular drone delivery system. The system comprises modular mobile robots equipped with a propulsion unit, omnidirectional wheels, and a coupler mechanism, enabling assembly so as to form rigid inter-module connections. These drones possess the ability to accommodate various payloads by utilising tethers and contact pads, allowing them to conform to the shape of the packages. The implemented system architecture is composed of four distinct modules, consisting of one parent module and three child modules, all interconnected through a tethering system. This paper aims to demonstrate the capabilities of the tethered multi-drone system by performing coordinated motions of the modules for payload grasping and flights with and without payload.
UR - http://www.scopus.com/inward/record.url?scp=85214934179&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85214934179&partnerID=8YFLogxK
U2 - 10.1109/SSRR62954.2024.10770002
DO - 10.1109/SSRR62954.2024.10770002
M3 - Conference contribution
AN - SCOPUS:85214934179
T3 - IEEE International Symposium on Safety, Security, and Rescue Robotics 2024, SSRR 2024
SP - 131
EP - 135
BT - IEEE International Symposium on Safety, Security, and Rescue Robotics 2024, SSRR 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2024 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2024
Y2 - 12 November 2024 through 14 November 2024
ER -