Control of a quadrotor and a ground vehicle manipulating an object

Nguyen, Tam W.; Catoire, L.; Garone, Emanuele

doi:10.1016/j.automatica.2019.04.011

Cited by 23 publications

(13 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Mohammadi et al [142] presented a cooperative manipulation system consisting of a ground mobile robot and a quadrotor, where the position of a rigid object was controlled by the mobile robot while its tilting angle by the (spherically connected) quadrotor. However, the result of [143] is limited only for the sagittal plane similar to the case of a two-DoFs pendulum-cart system. On the other hand, the multiple aerial ground manipulator system (MAGMaS) was proposed in [144], where a seven-DoFs KUKA LBR iiwa industrial manipulator and a (spherically connected) quadrotor were controlled to cooperatively manipulate a long rigid object, which was too heavy and too long to be individually handled by either robots (see Fig.…”

Section: Cooperative Aerial Manipulationmentioning

confidence: 99%

Past, Present, and Future of Aerial Robotic Manipulators

et al. 2022

View full text Add to dashboard Cite

This article analyzes the evolution and current trends in aerial robotic manipulation, comprising helicopters, conventional underactuated multirotors, and multidirectional thrust platforms equipped with a wide variety of robotic manipulators capable of physically interacting with the environment. It also covers cooperative aerial manipulation and interconnected actuated multibody designs. The review is completed with developments in teleoperation, perception, and planning. Finally, a new generation of aerial robotic manipulators is presented with our vision of the future. Index Terms-Aerial manipulation, aerial robots physically interacting with the environment, unmanned aerial vehicles. I. INTRODUCTIONT HE field of aerial robots physically interacting with the environment, and particularly aerial robotic manipulators (AEROMs), has experienced ten years of sustained growth. Diverse prototypes, functionalities and capabilities have been developed and evaluated in representative indoor and outdoor scenarios, demonstrating the possibility to successfully perform manipulation tasks while flying. The ability of aerial manipulators to quickly reach and operate in high altitude workspaces, along with the level of maturity reached in recent years, led to the application of this technology in areas like inspection and maintenance, reducing time, cost, and risk for the human workers. In this sense, this article aims at providing a broad perspective and analysis of the work done in aerial manipulation,

show abstract

Section: Cooperative Aerial Manipulationmentioning

confidence: 99%

Past, Present, and Future of Aerial Robotic Manipulators

et al. 2022

View full text Add to dashboard Cite

show abstract

“…The cable tension can be determined from the first row of the buoy dynamics in (10), so that its expression is more relevant to the coupled UAV−buoy system since it shows a direct link with V r , which yields the first case of (25). However, this form is not applicable near the vertical cable configuration (α = π/2) due to singularity, thus the actual cable tension, T , is computed via (15), which yields the second case of (25).…”

Section: Taut Cable Constraintmentioning

confidence: 99%

“…To detect the occurrence of this phenomenon, the following analysis is presented. If the discontinuity in the buoyant force is neglected, the buoy's heave dynamics can be simplified and expressed as a second-order transfer function with natural frequency, ω b , and damping ratio, µ b , deduced from (10) as:…”

Section: No 'Fly-over' Constraintmentioning

confidence: 99%

“…Remark 2. If the taut-cable constraint (21) is not satisfied, the system in (39) decouples into (10) and ( 15) with T = 0, and the polar states r , ṙ , and r are calculated from ( 18), (19), and (20), respectively. On the other hand, if the fly-over constraint (29) is not satisfied, the buoy's inertia matrix in (13) reduces to D b = diag(m b , m b , J b ), the buoy's damping matrix D b in ( 14) reduces to a null matrix, and f p becomes zero.…”

Section: The Tethered Uav-buoy System Modelmentioning

confidence: 99%

“…Aerial drones are finding their way into different sectors of the industry, including construction [1,2], agriculture [3], package delivery [4], inspection and maintenance [5], to name a few, in which drones not only independently fly in the air, but also physically interact with the environment. In terms of activities, unmanned aerial vehicles (UAVs) can move slung payloads in solo [6] or cooperatively [7] for transportation tasks, they can interact and collaborate with unmanned ground vehicles (UGVs), and they can be equipped with robot manipulators to achieve different geometric configurations [8] or to cooperatively manipulate other objects [1,9,10].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Marine Locomotion: A Tethered UAV$-$Buoy System with Surge Velocity Control

Kourani¹,

Daher²

2021

Preprint

View full text Add to dashboard Cite

Unmanned aerial vehicles (UAVs) are reaching offshore. In this work, we formulate the novel problem of a marine locomotive quadrotor UAV, which manipulates the surge velocity of a floating buoy by means of a cable. The proposed robotic system can have a variety of novel applications for UAVs where their high speed and maneuverability, as well as their ease of deployment and wide field of vision, give them a superior advantage. In addition, the major limitation of limited flight time of quadrotor UAVs is typically addressed through an umbilical power cable, which naturally integrates with the proposed system. A detailed high-fidelity dynamic model is presented for the buoy, UAV, and water environment. In addition, a stable control system design is proposed to manipulate the surge velocity of the buoy within certain constraints that keep the buoy in contact with the water surface. Polar coordinates are used in the controller design process since they outperform traditional Cartesian-based velocity controllers when it comes to ensuring correlated effects on the tracking performance, where each control channel independently affects one control parameter. The system model and controller design are validated in numerical simulation under different wave scenarios.

show abstract