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 language | English |
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Title of host publication | DroNet '24 |
Subtitle of host publication | proceedings of the 10th Workshop on Micro Aerial Vehicle Networks, Systems, and Applications |
Place of Publication | New York |
Publisher | Association for Computing Machinery |
Pages | 31-36 |
Number of pages | 6 |
ISBN (Electronic) | 9798400706561 |
DOIs | |
Publication status | Published - 2024 |
Event | 10th Workshop on Micro Aerial Vehicle Networks, Systems, and Applications, DroNet 2024 - Minato-ku, Japan Duration: 3 Jun 2024 → 7 Jun 2024 |
Conference
Conference | 10th Workshop on Micro Aerial Vehicle Networks, Systems, and Applications, DroNet 2024 |
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Country/Territory | Japan |
City | Minato-ku |
Period | 3/06/24 → 7/06/24 |
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