Decentralized Adaptive Aerospace Transportation of Unknown Loads Using A Team of Robots
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | |
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| _version_ | 1866912009753198592 |
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| author | Gao, Longsen Aubert, Kevin Saldana, David Danielson, Claus Fierro, Rafael |
| author_facet | Gao, Longsen Aubert, Kevin Saldana, David Danielson, Claus Fierro, Rafael |
| contents | Transportation missions in aerospace are limited to the capability of each aerospace robot and the properties of the target transported object, such as mass, inertia, and grasping locations. We present a novel decentralized adaptive controller design for multiple robots that can be implemented in different kinds of aerospace robots. Our controller adapts to unknown objects in different gravity environments. We validate our method in an aerial scenario using multiple fully actuated hexarotors with grasping capabilities, and a space scenario using a group of space tugs. In both scenarios, the robots transport a payload cooperatively through desired three-dimensional trajectories. We show that our method can adapt to unexpected changes that include the loss of robots during the transportation mission. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_08084 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Decentralized Adaptive Aerospace Transportation of Unknown Loads Using A Team of Robots Gao, Longsen Aubert, Kevin Saldana, David Danielson, Claus Fierro, Rafael Robotics Transportation missions in aerospace are limited to the capability of each aerospace robot and the properties of the target transported object, such as mass, inertia, and grasping locations. We present a novel decentralized adaptive controller design for multiple robots that can be implemented in different kinds of aerospace robots. Our controller adapts to unknown objects in different gravity environments. We validate our method in an aerial scenario using multiple fully actuated hexarotors with grasping capabilities, and a space scenario using a group of space tugs. In both scenarios, the robots transport a payload cooperatively through desired three-dimensional trajectories. We show that our method can adapt to unexpected changes that include the loss of robots during the transportation mission. |
| title | Decentralized Adaptive Aerospace Transportation of Unknown Loads Using A Team of Robots |
| topic | Robotics |
| url | https://arxiv.org/abs/2407.08084 |