期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 3, 期 2, 页码 680-687出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2017.2778018
关键词
Aerial systems; perception and autonomy; optimization and optimal control; sensor-based control
类别
资金
- Qualcomm Research, in part by the ARL [W911NF-08-2-0004]
- Qualcomm Research, in part by the ONR [N00014-07-1-0829, N00014-14-1-0510]
- Qualcomm Research, in part by the ARO [W911NE-13-1-0350]
- Qualcomm Research, in part by the NSF [IIS-1426840, IIS-1138847]
- Qualcomm Research, in part by the DARPA [HR001151626, HR0011516850]
Micro aerial vehicles have the potential to assist humans in tasks such as manipulation and transportation for construction and humanitarian missions, beyond simply acquiring data and building maps. In this letter, we address the state estimation, control, and trajectory planning in cooperative transportation of structures, which are either too heavy or too big to be carried by small microvehicles. Specifically, we consider small quadrotors, each equipped only with a single camera and inertial measurement unit as a sensor. The key contributions are 1) a new approach to coordinated control, which allows independent control of each vehicle while guaranteeing the system's stability and 2) a new cooperative localization scheme that allows each vehicle to benefit from measurements acquired by other vehicles. The latter relies on the vehicles exploiting the inherent rigid structure information to infer additional constraints between the vehicles' poses allowing us to formulate the pose estimation problem as an optimization problem on the Lie group SE(3). The proposed approach is validated through experimental results with multiple quadrotors grasping and transporting a rigid structure.
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