複数MAVによるロバストな協調物体輸送
Robust Collaborative Object Transportation Using Multiple MAVs
通信なしで機械的に結合した複数の小型ドローンが、ロバスト制御理論を用いて各機体の物理パラメータを調整し、頑健に物体を輸送する手法を提案した。
著者: Andrea Tagliabue, Mina Kamel, Roland Siegwart, Juan Nieto
分類: cs.RO
原文アブストラクト
Collaborative object transportation using multiple Micro Aerial Vehicles (MAVs) with limited communication is a challenging problem. In this paper we address the problem of multiple MAVs mechanically coupled to a bulky object for transportation purposes without explicit communication between agents. The apparent physical properties of each agent are reshaped to achieve robustly stable transportation. Parametric uncertainties and unmodeled dynamics of each agent are quantified and techniques from robust control theory are employed to choose the physical parameters of each agent to guarantee stability. Extensive simulation analysis and experimental results show that the proposed method guarantees stability in worst case scenarios.
