Related papers: Continuum Deformation of a Multiple Quadcopter Pay…
A quadcopter is an under-actuated system with only four control inputs for six degrees of freedom, and yet the human control of a quadcopter is simple enough to be learned with some practice. In this work, we consider the problem of human…
This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended rigid body payload. Assuming that a rigid body is connected to multiple quadrotors by rigid massless links,…
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…
The joint optimization of physical parameters and controllers in robotic systems is challenging. This is due to the difficulties of predicting the effect that changes in physical parameters have on final performances. At the same time,…
Cooperative transportation via multiple aerial robots has the potential to support various payloads and reduce the chances of them being dropped. Furthermore, autonomously controlled robots render the system scalable with respect to the…
This paper studies the problem of fast and safe aerial payload transport by a single quadcopter in urban areas. The quadcopter payload system (QPS) is considered as a rigid body and modeled with a nonlinear dynamics. The urban area is…
Decentralized network theories focus on achieving consensus and in speeding up the rate of convergence to consensus. However, network cohesion (i.e., maintaining consensus) during transitions between consensus values is also important when…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
Unmanned Aerial Vehicles (UAVs) have been increasingly used in the context of remote sensing missions such as target search and tracking, mapping, or surveillance monitoring. In the first part of our paper we consider agent dynamics,…
This paper presents a novel approach to utilizing underactuated quadrotor Unmanned Aerial Vehicles (UAVs) as assistive devices in cooperative payload transportation task through human guidance and physical interaction. The proposed system…
A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…
We present a distributed control strategy for a team of quadrotors to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and does not require global position information or…
This dissertation presents nonlinear tracking control systems for quadrotor unmanned aerial vehicles (UAV) under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the…
We derived a coordinate-free form of equations of motion for a complete model of a quadrotor UAV with a payload which is connected via a flexible cable according to Lagrangian mechanics on a manifold. The flexible cable is modeled as a…
Payload transport over flat terrain via multi-wheel robot carriers is well-understood, highly effective, and configurable. In this paper, our goal is to provide similar effectiveness and configurability for transport over rough terrain that…
Using quadrotors UAVs for cooperative payload transportation using cables has been actively gaining interest in recent years. Understanding the dynamics of these complex multi-agent systems would help towards designing safe and reliable…
Recently it has been reported that range-measurement inconsistency, or equivalently mismatches in prescribed inter-agent distances, may prevent the popular gradient controllers from guiding rigid formations of mobile agents to converge to…
Groups of unmanned aerial vehicles (UAVs) are increasingly utilized in transportation task as the combined strength allows to increase the maximum payload. However, the resulting mechanical coupling of the UAVs impose new challenges in…