Towards Cooperative Transport of a Suspended Payload via Two Aerial Robots with Inertial Sensing
Heng Xie,Xinyu Cai,Pakpong Chirarattananon,Heng Xie,Xinyu Cai,Pakpong Chirarattananon
This paper addresses the problem of cooperative transport of a point mass hoisted by two aerial robots. Treating the robots as a leader and a follower, the follower stabilizes the system with respect to the leader using only feedback from its Inertial Measurement Units (IMU). This is accomplished by neglecting the acceleration of the leader, analyzing the system through the generalized coordinates...
