Cooperative drone delivery via push-based lift with payload stabilization

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Abstract

Advancements in robotics have led to innovative approaches that employ quadcopters for carrying loads. In this paper, we introduce a unique system: a cooperative aerial robot delivery system employing a push-based method to transport payloads. This system includes a self-stabilizing tray with dual resistive sensor panels and a highly responsive 3-degree end-effector servo control designed to counteract payload instability. In our experiments, two Unmanned Aerial Vehicles (UAVs) successfully transported three distinct pay-load types, varying in size, mainly under indoor conditions. The Self Balancing Tray's (SBT) servo angles demonstrated reliable precision, with deviations reaching 1.6% from the average, enabling a rapid transport speed of up to 4 meters per second. Such accuracy is vital for safely moving delicate payloads. During flight, the system adeptly adjusted the payload's position, requiring merely 2.4 seconds for re-stabilization. Furthermore, the 3-degree end-effector (3-DEE) significantly minimized vibrations, enhancing the system's stability. These findings demonstrate the feasibility of push-based lift for cooperative drone payload transport systems.

Original languageEnglish
Title of host publicationDroNet '24
Subtitle of host publicationproceedings of the 10th Workshop on Micro Aerial Vehicle Networks, Systems, and Applications
Place of PublicationNew York
PublisherAssociation for Computing Machinery
Pages31-36
Number of pages6
ISBN (Electronic)9798400706561
DOIs
Publication statusPublished - 2024
Event10th Workshop on Micro Aerial Vehicle Networks, Systems, and Applications, DroNet 2024 - Minato-ku, Japan
Duration: 3 Jun 20247 Jun 2024

Conference

Conference10th Workshop on Micro Aerial Vehicle Networks, Systems, and Applications, DroNet 2024
Country/TerritoryJapan
CityMinato-ku
Period3/06/247/06/24

Bibliographical note

Copyright the Author(s) 2024. Version archived for private and non-commercial use with the permission of the author/s and according to publisher conditions. For further rights please contact the publisher.

Workshop co-located with ACM MobiSys 2024, Tokyo, Japan.

Alternative host publication title: "MOBISYS '24 : proceedings of the 10th Workshop on Micro Aerial Vehicle Networks, Systems, and Applications : The 22nd Annual International Conference on Mobile Systems, Applications and Services"

Keywords

  • Drone
  • UAV
  • Swarm
  • Delivery
  • Cooperative

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