期刊
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
卷 105, 期 3, 页码 -出版社
SPRINGER
DOI: 10.1007/s10846-022-01668-3
关键词
Aerial robotics; Multi-robot systems; Shared control; Novel construction techniques
资金
- Region Occitanie [2018 003431 -ESR_PREMAT-000160]
- ANR project [ANR-17-CE33-0007]
- European Commission [EC 871479]
- Agence Nationale de la Recherche (ANR) [ANR-17-CE33-0007] Funding Source: Agence Nationale de la Recherche (ANR)
This paper introduces the G-Fly-Crane, a proof-of-concept aerial multi-robot system that demonstrates the advantage of using multiple aerial robots as a valuable tool for novel construction techniques. The authors experimentally demonstrate the system's capability to perform tasks in a construction scenario, with increased payload capacity and dexterity compared to a single robot. The paper also provides a detailed description of the system's hardware and software architecture, as well as discussions on the next steps for real-world applications.
This work introduces the G-Fly-Crane, a proof-of-concept aerial multi-robot system designed to demonstrate the advantage of using multiple aerial robots as a valuable tool for novel construction techniques, not requiring the use of heavy engines and costly infrastructures. We experimentally demonstrate its capability to perform pick-and-place and manipulation tasks in a construction scenario, with an increased payload capacity and dexterity compared to the single robot case. The system is composed of three aerial robots connected to a platform by three pairs of cables. The platform is equipped with a gripper, enabling the grasping of objects. The paper describes in detail the hardware and software architecture of our prototype and explains the implemented control methods. A shared control strategy incorporates the human operator in the control loop, thus increasing the overall system reliability when performing complex tasks. The paper also discusses the next steps required to bring this technology from indoor laboratory conditions to real-world applications.
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