Path planning and control of multiple aerial manipulators for a cooperative transportation

Lee, Hyeonbeom; Kim, Hyoin; Kim, H. Jin

doi:10.1109/iros.2015.7353700

Cited by 16 publications

(10 citation statements)

References 18 publications

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“…Two hexarotors equipped with multi-DoF arms (3-DoF [87], 2-DoF [90]) manipulate the pose of a rod-shaped object, see Figure 3. A first demonstration is presented in [91], where the authors propose an augmented adaptive sliding mode controller that accounts for the object's dynamics, considering constraints about the grasping point. The desired path for each aerial manipulator is obtained by using an RRT* algorithm to transport the object to the desired position.…”

Section: Aerial Manipulation With Multi-dof Armsmentioning

confidence: 99%

“…The desired path for each aerial manipulator is obtained by using an RRT* algorithm to transport the object to the desired position. The results in [91] are extended in [92], as the path planning algorithm (RRT*) is enhanced with Bezier curves to produce the required trajectory in known environments; dynamic movement primitives (DMPs) are utilized to avoid unknown obstacles. As for grasping, a commercial gripper is used in the experiments, see Figure 3, instead of the handle/hook configuration adopted in [91].…”

Section: Aerial Manipulation With Multi-dof Armsmentioning

confidence: 99%

“…The results in [91] are extended in [92], as the path planning algorithm (RRT*) is enhanced with Bezier curves to produce the required trajectory in known environments; dynamic movement primitives (DMPs) are utilized to avoid unknown obstacles. As for grasping, a commercial gripper is used in the experiments, see Figure 3, instead of the handle/hook configuration adopted in [91]. Aiming at real-time implementation, the results are further extended in [93] where a learning-based motion planner is proposed using a combination of the RRT* algorithm and parametric-DMPs (PDMPs).…”

Section: Aerial Manipulation With Multi-dof Armsmentioning

confidence: 99%

See 2 more Smart Citations

A Review of Real-Time Implementable Cooperative Aerial Manipulation Systems

Barakou,

Tzafestas,

Valavanis

2024

Drones

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This review paper focuses on quadrotor- and multirotor-based cooperative aerial manipulation. Emphasis is first given to comparing and evaluating prototype systems that have been implemented and tested in real-time in diverse application environments. The underlying modeling and control approaches are also discussed and compared. The outcome of this review allows for understanding the motivation and rationale to develop such systems, their applicability and implementability in diverse applications and also challenges that need to be addressed and overcome. Moreover, this paper provides a guide to develop the next generation of prototype systems based on preferred characteristics, functionality, operability, and application domain.

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Section: Aerial Manipulation With Multi-dof Armsmentioning

confidence: 99%

Section: Aerial Manipulation With Multi-dof Armsmentioning

confidence: 99%

Section: Aerial Manipulation With Multi-dof Armsmentioning

confidence: 99%

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A Review of Real-Time Implementable Cooperative Aerial Manipulation Systems

Barakou,

Tzafestas,

Valavanis

2024

Drones

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“…Nevertheless, robotic researchers have demonstrated such capabilities even on drones. [17][18][19] Among many of the studies in literature related to CT, the leader follower (LF) approach is a popular mechanism. 20,21 The LF approach, available in literature, typically involves the use of positional information of the drones which are obtained using motion tracking cameras in indoor environments, or Global Positioning System (GPS) for outdoor environments.…”

Section: State Of the Artmentioning

confidence: 99%

“…Here, Δω fl , Δω θl , and Δω ψl provide roll, pitch and yaw to the leader, while Δω Fl provides motion along the Z W axis of the leader drone. These deviations for attitude control of leader are obtained by implementing a PD controller using the desired roll and pitch angles from equations ( 16) and (17). They are expressed as…”

Section: Approachmentioning

confidence: 99%

Force-torque (F-T) based multi-drone cooperative transport using fuzzy logic and low-cost and imprecise F-T sensor

Barawkar

Kumar

2023

Proceedings of the Institution of Mechanical Engineers, Part G:

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This paper presents a novel approach to perform the task of cooperative transportation (CT) by using multiple quadcopter drones. A leader-follower approach is utilized. Considering that the leader drone can be controlled using different means, such as Proportional, Integral, and Derivative (PID) control or remote control by an operator, this paper focuses on designing the control scheme for the follower drone. This paper specifically considers outdoor application of such systems that requires usage of Global Positioning System (GPS) to receive the positional information of the drones. However, GPS has inherent errors of order of magnitude that can destabilize the system. In order to address this major limitation, a Force-Torque Feedback Controller (FT-FC) is proposed to control the follower drone. The FT-FC provides control based on the interaction forces and torques acting at the point of contact between the follower drone and the payload. Using such passive control schemes, drones are thus not required to communicate with each other. Fuzzy Logic (FL) is used to implement the FT-FC. Fuzzy Logic provides effective force-torque coordination between drones, emulates human behavior during CT, and allows use of noisy inexpensive force-torque sensors. This paper presents results from numerical simulations showing the effectiveness of the proposed controller for way-point navigation and complex trajectory tracking. Additionally, the effectiveness of the fuzzy-based FT-FC in terms of handling disturbances is also demonstrated. The proposed FL FT-FC is also experimentally validated for two applications viz. three-dimensional physical Human Drone Interaction (HDI) and CT.

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A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application

et al. 2022

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The manipulation capabilities of flapping-wing flying robots (FWFRs) is a problem barely studied. This is a direct consequence of the load-carrying capacity limitation of the flapping-wing robots. Ornithopters will improve the existent multirotor unmanned aerial vehicles (UAVs) since they could perform longer missions and offer a safe interaction in proximity to humans. This technology also opens the possibility to perch in some trees and perform tasks such as obtaining samples from nature, enabling biologists to collect samples in remote places, or assisting people in rescue missions by carrying medicines or first-aid kits. This paper presents a very lightweight manipulator (79.7g) prototype to be mounted on an ornithopter. The distribution of the mass on the flapping-wing robot is sensitive and an extra lumped mass far from the center-of-mass (CoM) of the robot deteriorates the flight stability. A configuration was proposed to avoid changing the CoM. Flight experiments show that adding the arm to the robot only moved the CoM 6mm and the performance of the flight with the manipulator has been satisfactory. Plucking leaf is chosen as an application to the designed system and several experimental tests confirmed successful sampling of leaves by the prototype.

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Path planning and control of multiple aerial manipulators for a cooperative transportation

Cited by 16 publications

References 18 publications

A Review of Real-Time Implementable Cooperative Aerial Manipulation Systems

A Review of Real-Time Implementable Cooperative Aerial Manipulation Systems

Force-torque (F-T) based multi-drone cooperative transport using fuzzy logic and low-cost and imprecise F-T sensor

A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application

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