Distributed Autonomous Robotic Systems pp 545-558

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 83) | Cite as

Cooperative Grasping and Transport Using Multiple Quadrotors

  • Daniel Mellinger
  • Michael Shomin
  • Nathan Michael
  • Vijay Kumar

Abstract

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.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

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

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