Cooperative Transportation of Cable Suspended Payloads With MAVs Using Monocular Vision and Inertial Sensing

Li, Guanrui; Ge, Rundong; Loianno, Giuseppe

doi:10.1109/lra.2021.3065286

Cited by 50 publications

(51 citation statements)

References 25 publications

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“…(2) the force controller considers the limited friction of the end-effector and object surfaces, and utilizes the independently controlled yaw motion, which allows a wider range of feasible force commands by using the passive compliant spherical joint mechanism of the end-effector, enforcing the contact maintenance; (3) the stability analysis of the system is presented; (4) this work presents experimental results of tracking 3D force vectors applied to both stationary and moving objects.…”

Section: Related Work and Contributionmentioning

confidence: 99%

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Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control

et al. 2021

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This paper addresses the problem of unilateral contact interaction by an under-actuated quadrotor UAV equipped with a passive tool in a bilateral teleoperation scheme. To solve the challenging control problem of force regulation in contact interaction while maintaining flight stability and keeping the contact, we use a parallel position/force control method, commensurate to the system dynamics and constraints in which using the compliant structure of the end-effector the rotational degrees of freedom are also utilized to attain a broader range of feasible forces. In a bilateral teleoperation framework, the proposed control method regulates the aerial manipulator position in free flight and the applied force in contact interaction. On the master side, the human operator is provided with force haptic feedback to enhance his/her situational awareness. The validity of the theory and efficacy of the solution are shown by experimental results. This control architecture, integrated with a suitable perception/localization pipeline, could be used to perform outdoor aerial teleoperation tasks in hazardous and/or remote sites of interest.

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Section: Related Work and Contributionmentioning

confidence: 99%

“…Apart from their growing use in industrial and civil sites, these systems are starting to also be employed for the in-contact documentation of historical buildings [3]. Other applications of aerial interaction involve the transportation of cable-suspended payloads [4] and packages for search and rescue missions [5].…”

Section: Introductionmentioning

confidence: 99%

Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control

et al. 2021

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“…To overcome the remaining obstacle of achieving aerial cooperative transport in real-world settings, more recently, a few vision-based [26], [30], [31], and inertial-based [18] strategies have been introduced to workaround the absence of motion capture feedback. In [30], the authors employed two robots, each equipped with a downward camera, to autonomously carry a single payload by leveraging fixed attachments to form a single rigid structure.…”

Section: Introductionmentioning

confidence: 99%

Cooperative Transport of a Suspended Payload via Two Aerial Robots With Inertial Sensing

2022

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In this article, we address the problem of aerial transport of a suspended payload by two vehicles with minimal sensing and computational requirements. Herein, the leader-follower paradigm is adopted, allowing the follower robot to estimate and stabilize the formation using only feedback from its onboard inertial sensor. This is achieved through an analysis of the underlying dynamics of the coupled system. The gained insights lead to the introduction of a two-stage Kalman-based estimation strategy and the linear control laws that are capable of robustly dealing with the underactuated leader-payload-follower system. The vision-less methods have been verified through a series of flight experiments. The efficiency and the robustness of the schemes enable the cooperative payload transport to be accomplished by two sub-100-g robots with highly limited computational power in both indoor and outdoor environments. INDEX TERMS Autonomous vehicles, Intelligent transportation systems, State estimation.

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“…The use of Unmanned Aerial Vehicles (UAVs) towards autonomous task completion has received increased attention in the past decade. Indicative tasks include aerial manipulation in Gassner et al (2017) , Gkountas and Tzes (2021) , Nguyen and Alexis (2021) , Li et al (2021) , surveillance in Bisio et al (2021) , Tsoukalas et al (2021) , as well as Simultaneous Localization and Mapping (SLAM) in Papachristos et al (2019a) , Tsoukalas et al (2020) , Dang et al (2019) or inspection in Papachristos et al (2016) , Steich et al (2016) , Bircher et al (2015) ; these works necessitate the collaborating agents to exchange their relative pose (position and orientation).…”

Section: Introductionmentioning

confidence: 99%

Visual Collaboration Leader-Follower UAV-Formation for Indoor Exploration

et al. 2022

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UAVs operating in a leader-follower formation demand the knowledge of the relative pose between the collaborating members. This necessitates the RF-communication of this information which increases the communication latency and can easily result in lost data packets. In this work, rather than relying on this autopilot data exchange, a visual scheme using passive markers is presented. Each formation-member carries passive markers in a RhOct configuration. These markers are visually detected and the relative pose of the members is on-board determined, thus eliminating the need for RF-communication. A reference path is then evaluated for each follower that tracks the leader and maintains a constant distance between the formation-members. Experimental studies show a mean position detection error (5 × 5 × 10cm) or less than 0.0031% of the available workspace [0.5 up to 5m, 50.43° × 38.75° Field of View (FoV)]. The efficiency of the suggested scheme against varying delays are examined in these studies, where it is shown that a delay up to 1.25s can be tolerated for the follower to track the leader as long as the latter one remains within its FoV.

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Cooperative Transportation of Cable Suspended Payloads With MAVs Using Monocular Vision and Inertial Sensing

Cited by 50 publications

References 25 publications

Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control

Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control

Cooperative Transport of a Suspended Payload via Two Aerial Robots With Inertial Sensing

Visual Collaboration Leader-Follower UAV-Formation for Indoor Exploration

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