Tension-Based Reconfigurable Multi-Agent Formation for Aerial Load Transportation
This paper proposes a trajectory tracking controller for a cable-suspended load transported by n uncrewed aerial vehicles (UAVs) based on Euler angle states. This is accomplished using the resultant tension on the load as a virtual input and then distributing it to each vehicle, for which low-level...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/11059910/ |
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| author | Vinicius Pacheco Bacheti Daniel K. D. Villa Rogelio Lozano Mario Sarcinelli-Filho Pedro Castillo |
| author_facet | Vinicius Pacheco Bacheti Daniel K. D. Villa Rogelio Lozano Mario Sarcinelli-Filho Pedro Castillo |
| author_sort | Vinicius Pacheco Bacheti |
| collection | DOAJ |
| description | This paper proposes a trajectory tracking controller for a cable-suspended load transported by n uncrewed aerial vehicles (UAVs) based on Euler angle states. This is accomplished using the resultant tension on the load as a virtual input and then distributing it to each vehicle, for which low-level controllers generate the correct thrust and torque values. Furthermore, a leader-follower-based control is proposed to safely change the number of agents carrying the load. Numerical simulations are presented to validate the controllers. Finally, experiments demonstrate that the proposed method effectively enables the load to perform as expected and allows for the configuration of the formation to be changed without significantly impacting the load navigation. |
| format | Article |
| id | doaj-art-e3b88f8923d149cda5f409f81fd63e3f |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-e3b88f8923d149cda5f409f81fd63e3f2025-08-20T03:28:22ZengIEEEIEEE Access2169-35362025-01-011311409811411610.1109/ACCESS.2025.358462311059910Tension-Based Reconfigurable Multi-Agent Formation for Aerial Load TransportationVinicius Pacheco Bacheti0https://orcid.org/0000-0003-0311-732XDaniel K. D. Villa1Rogelio Lozano2https://orcid.org/0000-0002-5730-6313Mario Sarcinelli-Filho3https://orcid.org/0000-0002-7696-8996Pedro Castillo4https://orcid.org/0000-0001-8324-8762Department of Electrical Engineering, Universidade Federal do Espírito Santo, Vitória, BrazilDepartment of Electrical Engineering, Universidade Federal do Espírito Santo, Vitória, BrazilHeudiasyc Laboratory, CNRS UMR 7253, Universite de Technologie de Compiegne, Compiegne, FranceDepartment of Electrical Engineering, Universidade Federal do Espírito Santo, Vitória, BrazilHeudiasyc Laboratory, CNRS UMR 7253, Universite de Technologie de Compiegne, Compiegne, FranceThis paper proposes a trajectory tracking controller for a cable-suspended load transported by n uncrewed aerial vehicles (UAVs) based on Euler angle states. This is accomplished using the resultant tension on the load as a virtual input and then distributing it to each vehicle, for which low-level controllers generate the correct thrust and torque values. Furthermore, a leader-follower-based control is proposed to safely change the number of agents carrying the load. Numerical simulations are presented to validate the controllers. Finally, experiments demonstrate that the proposed method effectively enables the load to perform as expected and allows for the configuration of the formation to be changed without significantly impacting the load navigation.https://ieeexplore.ieee.org/document/11059910/Autonomous aerial vehiclescooperative systemsload modelingmobile robotsmulti-robot systems |
| spellingShingle | Vinicius Pacheco Bacheti Daniel K. D. Villa Rogelio Lozano Mario Sarcinelli-Filho Pedro Castillo Tension-Based Reconfigurable Multi-Agent Formation for Aerial Load Transportation IEEE Access Autonomous aerial vehicles cooperative systems load modeling mobile robots multi-robot systems |
| title | Tension-Based Reconfigurable Multi-Agent Formation for Aerial Load Transportation |
| title_full | Tension-Based Reconfigurable Multi-Agent Formation for Aerial Load Transportation |
| title_fullStr | Tension-Based Reconfigurable Multi-Agent Formation for Aerial Load Transportation |
| title_full_unstemmed | Tension-Based Reconfigurable Multi-Agent Formation for Aerial Load Transportation |
| title_short | Tension-Based Reconfigurable Multi-Agent Formation for Aerial Load Transportation |
| title_sort | tension based reconfigurable multi agent formation for aerial load transportation |
| topic | Autonomous aerial vehicles cooperative systems load modeling mobile robots multi-robot systems |
| url | https://ieeexplore.ieee.org/document/11059910/ |
| work_keys_str_mv | AT viniciuspachecobacheti tensionbasedreconfigurablemultiagentformationforaerialloadtransportation AT danielkdvilla tensionbasedreconfigurablemultiagentformationforaerialloadtransportation AT rogeliolozano tensionbasedreconfigurablemultiagentformationforaerialloadtransportation AT mariosarcinellifilho tensionbasedreconfigurablemultiagentformationforaerialloadtransportation AT pedrocastillo tensionbasedreconfigurablemultiagentformationforaerialloadtransportation |