Observer-based Distributed MPC for Collaborative Quadrotor-Quadruped Manipulation of a Cable-Towed Load | Semantic Scholar (2024)

A complete dynamic model for the problem of cooperative transportation of a cable-suspended payload by multiple quadrotors is developed and it is shown the resulting system is differentially flat when the cable tensions are strictly positive.

This approach utilizes Model Predictive Control (MPC) and multi-robot consensus protocol to obtain the distributed control law and ensures that all the robots are able to avoid obstacles, navigate to the desired positions, and meanwhile synchronize the gaits.

One of the first collaborative autonomy framework that is able to move a cable-towed load, which is too heavy to move by a single robot, through narrow spaces with real-time feedback and reactive planning in experiments is developed and demonstrated.

An optimization-based tuning method of the control gains that ensures stability despite parameter uncertainty and maximizes the <inline-formula><tex-math notation="LaTeX">$H_\infty$</tex- math></inline- formula> performance is proposed.

This work uses a coordinate-free geometric formulation and exploits a differential flatness based hybrid model of a quadrotor with a cable-suspended payload to perform direct collocation on the differentially-flat hybrid system, and uses complementarity constraints to avoid specifying hybrid mode sequences.

This work demonstrates closed-loop payload control in the full three-dimensional workspace, with the planning, estimation, and control pipeline implemented on an onboard processor and shows control of load swings up to 53º from the vertical axis.

A methodology based on behavioral systems theory is employed to model the sophisticated and high-dimensional structure induced by the holonomic constraints in complex multi-agent systems consisting of several holonomically constrained quadrupeds, resulting in a robustly stable method for trajectory planning.

This paper's method accommodates transitions between subsystems of the hybrid dynamical system, allowing for maneuvers that would otherwise be infeasible if the cable were constrained to remain taut.

This paper proposes a novel collaborative transport scheme, in which two quadrotors transport a cable-suspended payload at accelerations that exceed the capabilities of previous collaborative approaches, which make quasi-static assumptions.

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