Multi-objective control for cooperative payload transport with rotorcraft UAVs

Giménez, Javier; Gandolfo, Daniel; Rosales, Claudio; Carelli, Ricardo

doi:10.1016/j.isatra.2018.05.022

Cited by 50 publications

(27 citation statements)

References 16 publications

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“…Moreover, all the studies with this type of measurement analyzed here use very expensive indoor motion capture systems. The force exerted by the load on the UAV is only measured in [2,13] and our proposal, nonetheless, our system is smaller, lighter and cost much less than the other two systems. Some studies did not measure the load position/force but estimated them from the state of the vehicles using a geometric or dynamic model-based algorithm.…”

Section: Comparative Analysis With Other Payload Measurement Systemsmentioning

confidence: 98%

“…It has the great advantage of not needing external sensors but the load position depends on the vehicle position, and hence is affected by the measurement errors of the latter. Our proposed system, along with [2,13], has this type of sensing and uses the same principle to measure the load position, with some differences; Bernad et al [2] use magnetic encoders and Takahashi et al [13] use a multi-axis force/torque sensor to find out the cable (sling) angles. Instead, local sensing in [8] is based on visual tracking using a fish-eye lens camera, however, only slow motion in an indoor environment were tested.…”

Section: Comparative Analysis With Other Payload Measurement Systemsmentioning

confidence: 99%

“…Furthermore, the mechanical composition of quadrotors are simpler than traditional helicopters [4] . These aerial vehicles have been widely used to transport payloads, and several aspects of the problem have been studied; involving one [5,6] or more UAVs [7−10] , with the payload anchored to the UAV [11,12] or hanging from cables [13] , us-ing kinematic [14] or dynamic [15] controllers, with or without obstacle avoidance [14] , among other considerations [16] . There are companies dedicated to developing autonomous products for delivery systems and there are even companies that already offer UAVs designed to transport loads.…”

Section: Introductionmentioning

confidence: 99%

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Low-cost Position and Force Measurement System for Payload Transport Using UAVs

Gandolfo

Rosales

Giménez

et al. 2021

Int. J. Autom. Comput.

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In recent years, multiple applications have emerged in the area of payload transport using unmanned aerial vehicles (UAVs). This has attracted considerable interest among the scientific community, especially the cases involving one or several rotary-wing UAVs. In this context, this work proposes a novel measurement system which can estimate the payload position and the force exerted by it on the UAV. This measurement system is low cost, easy to implement, and can be used either in indoor or outdoor environments (no sensorized laboratory is needed). The measurement system is validated statically and dynamically. In the first test, the estimations obtained by the system are compared with measurements produced by high-precision devices. In the second test, the system is used in real experiments to compare its performance with the ones obtained using known procedures. These experiments allowed to draw interesting conclusions on which future research can be based.

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Section: Comparative Analysis With Other Payload Measurement Systemsmentioning

confidence: 98%

Section: Comparative Analysis With Other Payload Measurement Systemsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Low-cost Position and Force Measurement System for Payload Transport Using UAVs

Gandolfo

Rosales

Giménez

et al. 2021

Int. J. Autom. Comput.

Self Cite

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“…The first layer consists of a basic perceptual system, such as an IMU and GPS processing, flight control loops [ 35 ], communication [ 37 ], payload evaluation [ 38 ], image acquisition, basic collision avoidance [ 39 ], and low-level navigation (point-to-point) [ 40 ] which are responsible for the reactive behavior. It has hard real-time requirements and it runs embedded at the aircraft’s flight control unit (FCU).…”

Section: The Aerial Robotics Cognitive Architecturementioning

confidence: 99%

A Robotic Cognitive Architecture for Slope and Dam Inspections

Pinto

Honório

Melo

et al. 2020

Sensors

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Big construction enterprises, such as electrical power generation dams and mining slopes, demand continuous visual inspections. The sizes of these structures and the necessary level of detail in each mission requires a conflicting set of multi-objective goals, such as performance, quality, and safety. It is challenging for human operators, or simple autonomous path-following drones, to process all this information, and thus, it is common that a mission must be repeated several times until it succeeds. This paper deals with this problem by developing a new cognitive architecture based on a collaborative environment between the unmanned aerial vehicles (UAVs) and other agents focusing on optimizing the data gathering, information processing, and decision-making. The proposed architecture breaks the problem into independent units ranging from sensors and actuators up to high-level intelligence processes. It organizes the structures into data and information; each agent may request an individual behavior from the system. To deal with conflicting behaviors, a supervisory agent analyzes all requests and defines the final planning. This architecture enables real-time decision-making with intelligent social behavior among the agents. Thus, it is possible to process and make decisions about the best way to accomplish the mission. To present the methodology, slope inspection scenarios are shown.

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“…The thrust distribution during collaborative transport is discussed in [20,22]. The mechanism proposed by [22] regulates the thrust requirements for transporting a point mass. This regulation, however, should be performed taking the energy availability of the UAVs into consideration.…”

Section: Introductionmentioning

confidence: 99%

Energy distribution in Dual-UAV collaborative transportation through load sharing

Mohiuddin

Zweiri

Almadhoun

et al. 2020

Journal of Mechanisms and Robotics

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In this paper, a novel dual-UAV collaborative aerial transport strategy based on energy distribution and load sharing is proposed. This paper presents the first experimental demonstration of dual-UAV collaborative aerial transport while distributing power consumption. The demonstration is performed while distributing the power consumption between two drones sharing a load based on their battery state of charge. A numerical model of the dual-hex-rotor-payload is used to validate the proposed strategy. Numerical and hardware tests were conducted to demonstrate the load distribution using multiple UAV with certain spatial configurations. Finally, collaborative aerial transport test scenarios are performed numerically and experimentally. The simulation and experimental results show the effectiveness and applicability of the proposed strategy.

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Multi-objective control for cooperative payload transport with rotorcraft UAVs

Cited by 50 publications

References 16 publications

Low-cost Position and Force Measurement System for Payload Transport Using UAVs

Low-cost Position and Force Measurement System for Payload Transport Using UAVs

A Robotic Cognitive Architecture for Slope and Dam Inspections

Energy distribution in Dual-UAV collaborative transportation through load sharing

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