Cooperative Grasping and Transport Using Multiple Quadrotors

  • Daniel MellingerEmail author
  • Michael Shomin
  • Nathan Michael
  • Vijay Kumar
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 83)


In this paper, we consider the problem of controlling multiple quadrotor robots that cooperatively grasp and transport a payload in three dimensions.We model the quadrotors both individually and as a group rigidly attached to a payload. We propose individual robot control laws defined with respect to the payload that stabilize the payload along three-dimensional trajectories. We detail the design of a gripping mechanism attached to each quadrotor that permits autonomous grasping of the payload. An experimental study with teams of quadrotors cooperatively grasping, stabilizing, and transporting payloads along desired three-dimensional trajectories is presented with performance analysis over many trials for different payload configurations.


Aerial Robot Robot Operating System World Frame Body Moment Optimal Control Input 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Daniel Mellinger
    • 1
    Email author
  • Michael Shomin
    • 1
  • Nathan Michael
    • 1
  • Vijay Kumar
    • 1
  1. 1.GRASP LaboratoryUniversity of PennsylvaniaPhiladelphiaUSA

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