Carrying a Flexible Payload with Multiple Flying Vehicles

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Author(s) Ritz, Robin, D'Andrea, Raffaello
Publication Type Conference Contributions, Publication Status: Published
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Title Carrying a Flexible Payload with Multiple Flying Vehicles
Author(s) Ritz, Robin
D'Andrea, Raffaello
Journal or Series Title IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013
Start Page 3465
End Page 3471
ISSN 2153-0858
Publisher IEEE
Publication Place New York
Publication Date 2013
Abstract This paper introduces a method for carrying a flexible payload with multiple attached flying vehicles. A model for a particular class of flexible structures is presented, and an estimator is derived that observes the pose of the structure in space as well as the magnitude of some characteristic deformation modes. A control strategy that controls the flexible payload to a desired pose while also controlling the deformations to zero is introduced. The presented methods are validated in the ETH Zurich Flying Machine Arena by flying with a thin, flexible ring that is carried by six quadrocopters.
DOI 10.1109/IROS.2013.6696850
Event Name IEEE/RSJ International Conference on Intelligent Robots and Systems 2013
Event Location Tokyo, Japan
Event Date November 3-7, 2013
Document Type Conference Paper
Publication Status Published
Language English
Assigned Organisational Unit(s) 03758
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Source Database ID FORM-1385401701
WOS-000331367403079
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@inproceedings{Rtz2013,
  author = "Ritz, Robin and D'Andrea, Raffaello",
  title = "{C}arrying a {F}lexible {P}ayload with {M}ultiple {F}lying {V}ehicles",
  year = 2013,
  series = "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013",
  pages = "3465--3471",
  address = "New York",
  publisher = "IEEE",
}


E-Citations record created: Mon, 25 Nov 2013, 17:50:48 CET