Agile load transportation : Safe and efficient load manipulation with aerial robots

IEEE Robotics and Automation Magazine

Volumn 19, Issue 3, 2012, Pages 69-79

  Palunko, Ivana ^a   Cruz, Patricio ^a   Fierro, Rafael ^a  

^a UNIVERSITY OF NEW MEXICO   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE CONTROLLERS; AERIAL PLATFORM; AERIAL ROBOTS; AERIAL VEHICLE; CENTER OF GRAVITY; DYNAMIC CHANGES; EXTERNAL DISTURBANCES; MOBILE PLATFORM; OPTIMAL TRAJECTORY GENERATION; QUADROTORS; REAL TIME; SUSPENDED LOADS; UNCERTAIN ENVIRONMENTS; VIABLE SOLUTIONS;

ADAPTIVE CONTROL SYSTEMS; ALGORITHMS; DYNAMIC PROGRAMMING; UNMANNED AERIAL VEHICLES (UAV);

MANEUVERABILITY;

EID: 84867301938     PISSN: 10709932     EISSN: None     Source Type: Journal    
DOI: 10.1109/MRA.2012.2205617     Document Type: Article

References (34)

1. L.Merino, F. Caballero, J. Mart?́nez de Dios, I.Maza, and A.Ollero, "An unmanned aircraft system for automatic forest fire monitoring and measurement," J. Intell. Robot. Syst., vol. 65, pp. 533-548, Aug. 2011.
2. M. Lindermuth, R. Murphy, E. Steimle, W. Armitage, K. Dreger, T. Elliot, M. Hall, D. Kalyadin, J. Kramer, M. Palankar, K. Pratt, and C. Griffin, "Sea robot-assisted inspection," IEEE Robot. Automat. Mag., vol. 18, no. 2, pp. 96-107, June 2011.
3. T. Honeywell. (2011, Apr.). Hawk aids Fukushima Daiichi disaster recovery [Online]. Available: http://honeywell.com/News/Pages/Honeywell- T-Hawk-Aids-Fukushima-Daiichi-Disaster-Recovery.aspx
4. S. Bouabdallah, P. Murrieri, and R. Siegwart, "Design and control of an indoor micro quadrotor," in Proc. IEEE Int. Conf. Robotics and Automation, Barcelona, Spain, Apr. 2004, vol. 5, pp. 4393-4398.
5. G. Hoffman, S. Waslander, and C. Tomlin, "Quadrotor helicopter trajectory tracking control," in Proc. AIAA Guidance, Navigation and Control Conf. and Exhibit, Honolulu, HI, Apr. 2008, pp. 1-14.
6. A. Schollig, F. Augugliaro, and R. D'Andrea, "A platform for dance performances with multiple quadrocopters," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems-Workshop on Robots and Musical Expressions, 2010, pp. 1-8.
7. M. Valenti, D. Dale, J. How, and D. Pucci de Farias, "Mission health management for 24/7 persistent surveillance operations," in Proc. AIAA Conf. Guidance, Navigation and Control, Hilton Head, SC, Aug. 2007, pp. 1-18.
8. D. Mellinger, N. Michael, and V. Kumar, "Trajectory generation and control for precise aggressive maneuvers with quadrotors," Int. J. Robot. Res., vol. 31, no. 5, pp. 664-674, Apr. 2012.
9. S. Lupashin, A. Schollig, M. Sherback, and R. D'Andrea, "A simple learning strategy for high-speed quadrocopter multi-flips," in Proc. IEEE Int. Conf Robotics and Automation, May 2010, pp. 1642-1648.
10. N. Michael, J. Fink, and V. Kumar, "Cooperative manipulation and transportation with aerial robots," Autonom. Robots, vol. 30, pp. 73-86, 2011.
11. M. Bernard and K. Kondak, "Generic slung load transportation system using small size helicopters," in Proc. IEEE Int. Conf. Robotics and Automation, Kobe, Japan, May 2009, pp. 3258-3264.
12. I. Maza, K. Kondak, M. Bernard, and A. Ollero, "Multi-UAV cooperation and control for load transportation and deployment," J. Intell. Robot. Syst., vol. 57, no. 1, pp. 417-449, Jan. 2010.
13. P. Pounds, D. Bersak, and A. Dollar, "Grasping from the air: Hovering capture and load stability," in Proc. IEEE Int. Conf. Robotics and Automation, Shanghai, China, May 2011, pp. 2491-2498.
14. D. Mellinger, Q. Lindsey, M. Shomin, and V. Kumar, "Design, modelling, estimation and control for aerial grasping and manipulation," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, San Francisco, CA, Sept. 2011, pp. 2668-2673.
15. A. Albert, S. Trautmann, T. Howard, T. Nguyen, M. Frietsch, and C. Sauter, "Semi-autonomous flying robot for physical interaction with environment," in Proc. IEEE Conf. Robotics Automation and Mechatronics, Singapore, June 2010, pp. 441-446.
16. Q. Lindsey, D. Mellinger, and V. Kumar, "Construction of cubic structures with quadrotor teams," in Proc. Robot. Sci. Syst., June 2011, p. 1.
17. C. Korpela, T. Danko, and P. Oh, "Designing a system for mobile manipulation from an unmaned aerial vehicle," in Proc. IEEE Conf. Technologies for Practical Robot Applications, Apr. 2011, pp. 109-114.
18. E. Ackerman. (2011, Aug.). Matternet wants to deliver meds with a network of quadrotors [Online]. Available: http://spectrum.ieee.org/automaton/robotics/ medical-robots/mini-uavs-could-be-the-cheapestway- to-deliver-medicine
19. I. Palunko and R. Fierro, "Adaptive feedback controller design and quadrotor modeling with dynamic changes of the center of gravity," in Proc. 18th IFAC World Congr., Milan, Italy, Aug. 28-Sept. 2, 2011, pp. 2626-2631.
20. I. Palunko, R. Fierro, and P. Cruz, "Trajectory generation for swingfree maneuvers of a quadrotor with suspended payload: A dynamic programming approach," in Proc. IEEE Int. Conf. Robotics and Automation, St. Paul, MN, May 14-18, 2012, pp. 2691-2697.
21. R. Mahony, V. Kumar, and P. Corke, "Modeling, estimation and control of quadrotor aerial vehicles," IEEE Robot. Automat. Mag., vol. 19, no. 3, pp. 20-32, 2012.
22. S. Sagatun and T. Fossen, "Lagrangian formulation of underwater vehicles' dynamics," in Proc. Conf. Systems, Man, and Cybernetics, Charlottesville, VA, Oct. 1991, vol. 2, pp. 1029-1034.
23. L. S. Cicolani and G. Kanning, "Equations of motion of slung-load systems, including multilift systems," NASA, Office of Management Scientific and Technical Information Program, Ames Research Center, Moffett Field, CA, NASA Technical Paper, 3280, 1992.
24. D. Fusato, G. Guglieri, and R. Celi, "Flight dynamics of an articulated rotor helicopter with an external slung load," J. Amer. Helicopter Soc., vol. 46, no. 1, pp. 3-14, Jan. 2001.
25. M. Bisgaard, J. Bendtsen, and A. la Cour-Harbo, "Modelling of a generic slung load system," in Proc. AIAA Modeling and Simulation Technologies Conf. and Exhibit, 2006.
26. I. Vasilescu, C. Detweiler, M. Doniec, D. Gurdan, S. Sosnowski, J. Stumpf, and D. Rus, "A hovering energy efficient underwater robot capable of dynamic payloads," Int. J. Robot. Res., vol. 29, no. 5, pp. 547-570, Apr. 2010.
27. M. Moll, P. Will, M. Krivokon, and W.-M. Shen, "Distributed control of the center of mass of a modular robot," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Beijing, China, Oct. 2006, pp. 4710-4715. (Pubitemid 46928668)
28. J. Slotine and W. Li, Applied Nonlinear Control. Englewood Cliffs, NJ: Prentice-Hall, 1991.
29. G. Starr, J. Wood, and R. Lumia, "Rapid transport of suspended payloads," in Proc. IEEE Int. Conf. Robotics and Automation, Apr. 2005, pp. 1394-1399. (Pubitemid 46083986)
30. D. Zameroski, G. Starr, J. Wood, and R. Lumia, "Rapid swing-free transport of nonlinear payloads using dynamic programming," ASME J. Dyn. Syst. Meas. Control, vol. 130, no. 4, pp. 041001-1-041001-11, July 2008.
31. (2012, June). Marhes [Online]. Available: http://marhes.ece.unm. edu/index.php/Ipalunko:Home.
32. Ascending Technologies GmbH. (2012). [Online]. Available: http://www.asctec.de/
33. Vicon Motion Systems Limited. (2012). [Online]. Available: http://www.vicon.com/
34. NI CompactRIO [Online]. Available: http://www.ni.com/compactrio/