Robust Collaborative Object Transportation Using Multiple MAVs
This addresses the challenge of robust object transportation for MAVs in limited communication settings, representing an incremental improvement in collaborative robotics.
The paper tackled the problem of multiple Micro Aerial Vehicles (MAVs) collaboratively transporting a bulky object without explicit communication, by reshaping their physical properties using robust control theory to guarantee stability, with results showing stability in worst-case scenarios through simulations and experiments.
Collaborative object transportation using multiple Micro Aerial Vehicles (MAVs) with limited communication is a challenging problem. In this paper we address the problem of multiple MAVs mechanically coupled to a bulky object for transportation purposes without explicit communication between agents. The apparent physical properties of each agent are reshaped to achieve robustly stable transportation. Parametric uncertainties and unmodeled dynamics of each agent are quantified and techniques from robust control theory are employed to choose the physical parameters of each agent to guarantee stability. Extensive simulation analysis and experimental results show that the proposed method guarantees stability in worst case scenarios.