Multi-robot aerial manipulation

Often, the complexity of some physical interaction tasks requires the use of more than one robot. Accomplishing such tasks with a single robot integrating several features would lead to a very big and complex platform. The multi-robot solution appears to be the more suited in this scenario, e.g., in construction applications where assembly tasks and the manipulation of bulky elements require the application of high forces and torques in several points of the transported object. On the other hand, the coordination of a multi-robot system implies additional challenges involving modeling, control, stability analysis, motion planning, perception, etc.

Related references

  1. A. E. Jiménez-Cano, Sanalitro, D., Tognon, M., Franchi, A., and Cortés, J., Precise Cable-Suspended Pick-and-Place with an Aerial Multi-robot System, Journal of Intelligent & Robotic Systems, vol. 105, pp. 1–13, 2022. Pdf
  2. D. Sanalitro, Tognon, M., Jimenez-Cano, A., Cortes, J., and Franchi, A., Indirect Force Control of a Cable-suspended Aerial Multi-Robot Manipulator, IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 2377-3766, 2022. Pdf
  3. A. Petitti, Sanalitro, D., Tognon, M., Milella, A., Cortés, J., and Franchi, A., Inertial Estimation and Energy-Efficient Control of a Cable-suspended Load with a Team of UAVs, in 2020 International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, 2020. Pdf
  4. E. Umili, Tognon, M., Sanalitro, D., Oriolo, G., and Franchi, A., Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs, in 2020 International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, 2020. Pdf
  5. D. Sanalitro, Savino, H. J., Tognon, M., Cortés, J., and Franchi, A., Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties, IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2185-2191, 2020. Pdf
  6. C. Gabellieri, Tognon, M., Sanalitro, D., Pallottino, L., and Franchi, A., A Study on Force-based Collaboration in Swarms, Swarm Intelligence, vol. 14, no. 1, pp. 57 - 82, 2019. Pdf
  7. E. Rossi, Tognon, M., Carli, R., Schenato, L., Cortés, J., and Franchi, A., Cooperative Aerial Load Transportation via Sampled Communication, IEEE Control Systems Letters, vol. 4, no. 2, pp. 277-282, 2019. Pdf
  8. M. Tognon, Gabellieri, C., Pallottino, L., and Franchi, A., Aerial Co-Manipulation With Cables: The Role of Internal Force for Equilibria, Stability, and Passivity, IEEE Robotics and Automation Letters, Special Issue on Aerial Manipulation, vol. 3, no. 3, pp. 2577-2583, 2018. Pdf
  9. C. Gabellieri, Tognon, M., Pallottino, L., and Franchi, A., A Study on Force-Based Collaboration in Flying Swarms, in International Conference on Swarm Intelligence, Rome, Italy, 2018. Pdf