Physical simulation of Marsupial UAV-UGV Systems Connected by a Variable-Length Hanging Tether
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866908468885061632 |
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| author | Maese, Jose Enrique Caballero, Fernando Merino, Luis |
| author_facet | Maese, Jose Enrique Caballero, Fernando Merino, Luis |
| contents | This paper presents a simulation framework able of modeling the dynamics of a hanging tether with adjustable length, connecting a UAV to a UGV. The model incorporates the interaction between the UAV, UGV, and a winch, allowing for dynamic tether adjustments based on the relative motion of the robots. The accuracy and reliability of the simulator are assessed through extensive experiments, including comparisons with real-world experiment, to evaluate its ability to reproduce the complex tether dynamics observed in physical deployments. The results demonstrate that the simulation closely aligns with real-world behavior, particularly in constrained environments where tether effects are significant. This work provides a validated tool for studying tethered robotic systems, offering valuable insights into their motion dynamics and control strategies. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_12776 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Physical simulation of Marsupial UAV-UGV Systems Connected by a Variable-Length Hanging Tether Maese, Jose Enrique Caballero, Fernando Merino, Luis Robotics This paper presents a simulation framework able of modeling the dynamics of a hanging tether with adjustable length, connecting a UAV to a UGV. The model incorporates the interaction between the UAV, UGV, and a winch, allowing for dynamic tether adjustments based on the relative motion of the robots. The accuracy and reliability of the simulator are assessed through extensive experiments, including comparisons with real-world experiment, to evaluate its ability to reproduce the complex tether dynamics observed in physical deployments. The results demonstrate that the simulation closely aligns with real-world behavior, particularly in constrained environments where tether effects are significant. This work provides a validated tool for studying tethered robotic systems, offering valuable insights into their motion dynamics and control strategies. |
| title | Physical simulation of Marsupial UAV-UGV Systems Connected by a Variable-Length Hanging Tether |
| topic | Robotics |
| url | https://arxiv.org/abs/2412.12776 |