Cooperative Aerial Transportation of a Payload with a Sliding Cable Attachment

Key points

• Two quadrotors are connected by a single inextensible cable that passes through a frictionless hook mounted on the payload, allowing the cable to slide between its two segments.1
• This introduces a cable-distribution variable that couples the quadrotor motion, cable geometry, and payload dynamics.1
• A feasible reference-generation framework is formulated using the desired payload pose, cable distribution, and system shape while satisfying the cable-length constraint and elliptical workspace.1
• The quadrotors track the geometrically generated trajectories while maintaining positive cable tension and respecting actuator limits.1

Sources (1)

• [1]Cooperative Aerial Transportation of a Payload with a Sliding Cable Attachment
  arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 9, 02:35 PM

  This paper presents a dual-quadrotor hook- suspended transport system for cooperative aerial manipulation of a payload that is not rigidly attached to a fixed point along the cable.

  Two quadrotors are connected by a single inextensible cable that passes through a frictionless hook mounted on the payload, allowing the cable to slide between its two segments.

Extractive summary: sentences quoted from the sources.