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International Conference on Cognitive Systems and Signal Processing

ICCSIP 2022: Cognitive Systems and Information Processing pp 351–370Cite as

Towards Flying Carpet: Dynamics Modeling, and Differential-Flatness-Based Control and Planning

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Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1787))

Abstract

Aerial systems assembled from multiple modules have the potential to perform tasks that are difficult for traditional aerial vehicles. In this work, we propose a novel aerial system, Carpet, which is composed by a matrix of quadrotor modules. In Carpet, a column of quadrotor modules connects to the neighbouring column via revolute joints. By adjusting the joint angles, Carpet is capable of working in flight mode and terrestrial mode. This is the first time that UAV assembly with this configuration is analyzed. The terrestrial mode could potentially increase the energy efficiency of aerial systems. While in flight mode, Carpet can fold up or expand to adapt to different tasks or environments, e.g., curling up to U form can make it more compact and agile when passing through narrow channels. The dynamics of Carpet is investigated. It is found that the entire Carpet in flight mode can produce 5D force/torque, and the joints connecting columns do not need extra actuators. The differential flatness of Carpet is analyzed. The motion controller and the trajectory generator are designed based on the differential flatness. The proposed trajectory planning method is able to guide Carpet to pass through narrow corridors. Numerical simulations are presented, illustrating the feasibility of the proposed Carpet.

Supported by the National Natural Science Foundation of China under Grant 62173037, National Key R. D. Program of China, and State Key Laboratory of Robotics and Systems (HIT).

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Authors and Affiliations

  1. School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China

    Jiali Sun & Yushu Yu

  2. School of Mechanical Engineering, Beijing Institute of Technology, Beijing, 100081, China

    Bin Xu

Authors
  1. Jiali Sun
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  2. Yushu Yu
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  3. Bin Xu
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Corresponding author

Correspondence to Yushu Yu .

Editor information

Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Fuchun Sun

  2. University of Manchester, Manchester, UK

    Angelo Cangelosi

  3. Universität Hamburg, Hamburg, Germany

    Jianwei Zhang

  4. Fuzhou University, Fuzhou, China

    Yuanlong Yu

  5. Tsinghua University, Beijing, China

    Huaping Liu

  6. Tsinghua University, Beijing, China

    Bin Fang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Sun, J., Yu, Y., Xu, B. (2023). Towards Flying Carpet: Dynamics Modeling, and Differential-Flatness-Based Control and Planning. In: Sun, F., Cangelosi, A., Zhang, J., Yu, Y., Liu, H., Fang, B. (eds) Cognitive Systems and Information Processing. ICCSIP 2022. Communications in Computer and Information Science, vol 1787. Springer, Singapore. https://doi.org/10.1007/978-981-99-0617-8_24

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  • DOI: https://doi.org/10.1007/978-981-99-0617-8_24

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-0616-1

  • Online ISBN: 978-981-99-0617-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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