Catenary Tether Shape Analysis for a UAV - USV Team

Talke, Kurt; Oliveira, Maurício de; Bewley, Thomas

doi:10.1109/iros.2018.8594280

Cited by 32 publications

(21 citation statements)

References 15 publications

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“…It also suggests that a longer tether between robots does not necessarily correspond to better efficiency. This finding may impact prior arts wherein the length is not considered [4,14] or is fixed [5,6,17,18,31].…”

Section: B Trajectory Trackingmentioning

confidence: 98%

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Object Gathering with a Tethered Robot Duo

Su,

Jiang,

Zhu

et al. 2022

Preprint

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We devise a cooperative planning framework to generate optimal trajectories for a robot duo tethered by a flexible net to gather scattered objects spread in a large area. Specifically, the proposed planning framework first produces a set of dense waypoints for each robot, serving as the initialization for optimization. Next, we formulate an iterative optimization scheme to generate smooth and collision-free trajectories while ensuring cooperation within the robot duo to gather objects efficiently and avoid obstacles properly. We validate the generated trajectories in simulation and implement them in physical robots using Model Reference Adaptive Controller (MRAC) to handle unknown dynamics of carried payloads. In a series of studies, we find that: (i) a U-shape cost function for maintaining separation distance is effective in planning cooperative robot duo, and (ii) the task efficiency is not always proportional to the tethered net's length. Given an environment configuration, our framework can gauge the optimal net length. To our best knowledge, ours is the first that provides such estimation for tethered robot duo.

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Section: B Trajectory Trackingmentioning

confidence: 98%

“…‚ Desired separation distance d rest as hard constraint. This strategy maintains the desired separation distance along the path [6,17,18,31]; referred to as Baseline 2 in Fig. 6.…”

Section: Maintaining Net Shapementioning

confidence: 99%

Object Gathering with a Tethered Robot Duo

Su,

Jiang,

Zhu

et al. 2022

Preprint

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“…Physical interaction is another aspect of the heterogeneous UAV-USV system. For instance, the USV can serve as a landing platform for the UAV [23], power transmission from a USV to a UAV can be achieved through an umbilical power cable [24], and even floating object manipulation can be made through a tethered UAV system [14].…”

Section: Introductionmentioning

confidence: 99%

“…A tethered power system for UAVs was proposed in [2] and is now commercially available [7]. Such a system can be optimized to suit the special case of a continuously oscillating marine power station as studied in [24]. A tethered UAV is also useful in information transmission.…”

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Modeling and Control of a Tethered UAV-Buoy System

Kourani

Daher

2021

Preprint

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This work presents the nonlinear dynamical model and motion controller of a system consisting of an unmanned aerial vehicle (UAV) that is tethered to a floating buoy in the three-dimensional (3D) space. Detailed models of the UAV, buoy, and the coupled tethered system dynamics are presented in a marine environment that includes surface-water currents and oscillating gravity waves, in addition to wind gusts. This work extends the previously modeled planar (vertical) motion of this novel robotic system to allow its free motion in all three dimensions. Furthermore, a Directional Surge Velocity Control System (DSVCS) is hereby proposed to allow both the free movement of the UAV around the buoy when the cable is slack, and the manipulation of the buoy’s surge velocity when the cable is taut. Using a spherical coordinate system centered at the buoy, the control system commands the UAV to apply forces on the buoy at specific azimuth and elevation angles via the tether, which yields a more appropriate realization of the control problem as compared to the Cartesian coordinates where the traditional x- , y- , and z -coordinates do not intuitively describe the tether’s tension and orientation. The proposed robotic system and controller offer a new method of interaction and collaboration between UAVs and marine systems from a locomotion perspective. The system is validated in a virtual high-fidelity simulation environment, which was specifically developed for this purpose, while considering various settings and wave scenarios.

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“…Fletcher developed an air-ground marsupial unmanned platform [6]. At present, air-to-water surface marsupial unmanned platforms are mainly composed of rotary UAVs and USVs [1][2][3]7,8]. For a marsupial platform consisting of fixed-wing UAVs and USVs, due to the difficulty of recovering fixed-wing UAVs on USVs, it is necessary to design an efficient and reliable autonomous recovery system for small fixed-wing UAVs.…”

Section: Introductionmentioning

confidence: 99%

Marine UAV–USV Marsupial Platform: System and Recovery Technic Verification

Zhang

et al. 2020

Applied Sciences

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Heterogeneous unmanned systems consisting of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) have great application potential in marine environments. At present, the fully autonomous recovery of UAVs is a key problem that restricts any significant application of a heterogeneous unmanned system. This paper presents a novel fully autonomous recovery system, covering the entire process of recovery of small fixed-wing UAVs on mobile platforms at sea. We describe methods or solutions for the key problems encountered by the current system, including active modeling of the UAV–USV heterogeneous platform motion model, accurate estimation of the highly dynamic relative motion of the heterogeneous platform, dynamic analysis of the arresting cable system, and compliance control of the manipulator recovery system. Based on these methods, a physical simulation platform for the fully autonomous recovery system, including an actively adjustable arresting cable, manipulator compliance recovery system, and other subsystems, is developed and verified through experiments. The experiments show that the system proposed in this study can achieve full autonomous recovery of a small ship-based fixed-wing UAV with a high success rate in a short period. This system is the foundation for practical applications of UAV–USV heterogeneous unmanned systems in the marine environment.

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Catenary Tether Shape Analysis for a UAV - USV Team

Cited by 32 publications

References 15 publications

Object Gathering with a Tethered Robot Duo

Object Gathering with a Tethered Robot Duo

Three-Dimensional Modeling and Control of a Tethered UAV-Buoy System

Marine UAV–USV Marsupial Platform: System and Recovery Technic Verification

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