Inertial Estimation and Energy-Efficient Control of a Cable-suspended Load with a Team of UAVs

A. Petitti, D. Sanalitro, M. Tognon, A. Milella, J. Cortés, A. Franchi

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The Fly-Crane is a multi-robot aerial manipulator system composed of three aerial vehicles towed to a platform by means of six cables. This paper presents a method to estimate the mass and the position of the center of mass of a loaded platform (i.e. the Fly-Crane platform including a transported load). The precise knowledge of these parameters allows to sensibly minimize the total effort exerted during a full-pose manipulation task The estimation is based on the measure of the forces applied by the aerial vehicles to the platform in different static configurations. We demonstrate that only two different configurations are sufficient to estimate the inertial parameters. Far-from-ideal numerical simulations show the effectiveness of the estimation method. Once the parameters are estimated, we show the enhancement of the system performances by minimizing the total exerted effort. The validity of the proposed algorithm in non-ideal conditions is presented through simulations based on the Gazebo simulator.
Original languageEnglish
Title of host publication2020 International Conference on Unmanned Aircraft Systems (ICUAS)
Place of PublicationAthens, Greece
Number of pages1
Publication statusPublished - 1 Sep 2020
EventInternational Conference on Unmanned Aircraft Systems, ICUAS 2020 - Virtual Conference
Duration: 9 Jun 202012 Jun 2020


ConferenceInternational Conference on Unmanned Aircraft Systems, ICUAS 2020
Abbreviated titleICUAS 2020
CityVirtual Conference
Internet address


  • murophen
  • aerialcore

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