Heterogeneous Collaborative Aerial Manipulation

Sammanfattning: Unmanned Vehicles are a fast-growing area of robotics due to theirvast application scenarios and ability to perform tasks otherwise impossible.A particular branch, Unmanned Aerial Vehicles, specificallymultirotors, as seen an increasing interest in research due to their mechanicalsimplicity and agility.Within AEROWORKS, UAVs are explored as aerial workers, capableof doing autonomous reconstruction of structures and transportationof payloads. This works targets heterogeneous collaborative aerialmanipulation, in which two different vehicles are used with two differentmanipulation capabilities - a manipulator and a tether - to transporta rod-like object.We consider two cases, one where the manipulator is free of actuation,and another where the manipulator is locked. Each UAV has aPID controller which gains are calculated through a linearization procedureof the system, and such that they guarantee exponential stability.Experiments provide an insight into the modeled transportationscenario and show that our controller is capable of stabilizing the system.