7 accepted papers
Aerial manipulators have great potential in accomplishing a variety of aerial tasks. One class of aerial manipulators, multi-UAV parallel robots, consists of multiple UAVs connected to a payload or an end-effector by passive kinematic chains. The primary limitation of such aerial manipulators is the…
Formation control of multi-agent systems deals with groups of robots forming specific spatial geometries. Combined with the advancements of unmanned aerial vehicles (UAVs) in the past decade, formation control may potentially be applied to tasks such as search-and-rescue, surveillance, even collabor…
Aerial Cable Towed Systems (ACTS) are composed of several Unmanned Aerial Vehicles (UAVs) connected to a payload by cables. Compared to towing objects from individual aerial vehicles, an ACTS has significant advantages such as heavier payload capacity, modularity, and full control of the payload pos
Several methods can be applied to estimate the propeller thrust and torque coefficients and dynamics parameters of quadrotor UAVs. These parameters are necessary for many controllers that have been proposed for these vehicles. However, these methods require the use of specific test benches, which do
This paper investigates the effect of the robot configuration on the performance of an aerial cable towed system (ACTS) composed of three quadrotors manipulating a point mass payload. The kinematic and dynamic models of the ACTS are derived in a minimal set of geometric coordinates, and a centralize…
This letter deals with a novel flying mechanism. Inspired from parallel manipulators, this flying robot is composed of three quadrotors linked by a rigid articulated architecture composed of three legs and a platform. Associating quadrotor comanipulation and rigid bodies, this new design offers nove
The presence of Type 2 singularities in parallel robots severely affects their performances, mainly because the platform motion control is partially lost. It also leads to a size reduction of the operational workspace. Moreover, the dynamic model of the parallel mechanism degenerates and locally, th…