Abstract
In this paper, we consider the problem of controlling multiple quadrotor robots that cooperatively grasp and transport a payload in three dimensions.We model the quadrotors both individually and as a group rigidly attached to a payload. We propose individual robot control laws defined with respect to the payload that stabilize the payload along three-dimensional trajectories. We detail the design of a gripping mechanism attached to each quadrotor that permits autonomous grasping of the payload. An experimental study with teams of quadrotors cooperatively grasping, stabilizing, and transporting payloads along desired three-dimensional trajectories is presented with performance analysis over many trials for different payload configurations.
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© 2013 Springer-Verlag Berlin Heidelberg
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Mellinger, D., Shomin, M., Michael, N., Kumar, V. (2013). Cooperative Grasping and Transport Using Multiple Quadrotors. In: Martinoli, A., et al. Distributed Autonomous Robotic Systems. Springer Tracts in Advanced Robotics, vol 83. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32723-0_39
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DOI: https://doi.org/10.1007/978-3-642-32723-0_39
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-32722-3
Online ISBN: 978-3-642-32723-0
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