TY - JOUR
T1 - Precise Cable-Suspended Pick-and-Place with an Aerial Multi-robot System
T2 - A Proof of Concept for Novel Robotics-Based Construction Techniques
AU - Jiménez-Cano, A. E.
AU - Sanalitro, D.
AU - Tognon, M.
AU - Franchi, A.
AU - Cortés, J.
N1 - Funding Information:
The authors would like to thank Quentin Sable from the University of Twente for his contribution to the experimental platform and Anthony Mallet from LAAS-CNRS who collaborated to develop the software architecture.
Funding Information:
This work has been partially funded by the Région Occitanie under contract 2018 003431 - ESR_PREMAT-000160, by the ANR project ANR-17-CE33-0007 ‘MuRoPhen’, and by the European Commission project H2020 AERIAL-CORE (EC 871479) Acknowledgements
Funding Information:
This work has been partially funded by the Région Occitanie under contract 2018 003431 - ESR_PREMAT-000160, by the ANR project ANR-17-CE33-0007 ‘MuRoPhen’, and by the European Commission project H2020 AERIAL-CORE (EC 871479).
Publisher Copyright:
© 2022, The Author(s).
PY - 2022/7
Y1 - 2022/7
N2 - This work introduces the G-Fly-Crane, a proof-of-concept aerial multi-robot system designed to demonstrate the advantage of using multiple aerial robots as a valuable tool for novel construction techniques, not requiring the use of heavy engines and costly infrastructures. We experimentally demonstrate its capability to perform pick-and-place and manipulation tasks in a construction scenario, with an increased payload capacity and dexterity compared to the single robot case. The system is composed of three aerial robots connected to a platform by three pairs of cables. The platform is equipped with a gripper, enabling the grasping of objects. The paper describes in detail the hardware and software architecture of our prototype and explains the implemented control methods. A shared control strategy incorporates the human operator in the control loop, thus increasing the overall system reliability when performing complex tasks. The paper also discusses the next steps required to bring this technology from indoor laboratory conditions to real-world applications.
AB - This work introduces the G-Fly-Crane, a proof-of-concept aerial multi-robot system designed to demonstrate the advantage of using multiple aerial robots as a valuable tool for novel construction techniques, not requiring the use of heavy engines and costly infrastructures. We experimentally demonstrate its capability to perform pick-and-place and manipulation tasks in a construction scenario, with an increased payload capacity and dexterity compared to the single robot case. The system is composed of three aerial robots connected to a platform by three pairs of cables. The platform is equipped with a gripper, enabling the grasping of objects. The paper describes in detail the hardware and software architecture of our prototype and explains the implemented control methods. A shared control strategy incorporates the human operator in the control loop, thus increasing the overall system reliability when performing complex tasks. The paper also discusses the next steps required to bring this technology from indoor laboratory conditions to real-world applications.
KW - Aerial robotics
KW - Multi-robot systems
KW - Novel construction techniques
KW - Shared control
KW - UT-Hybrid-D
UR - http://www.scopus.com/inward/record.url?scp=85134267793&partnerID=8YFLogxK
U2 - 10.1007/s10846-022-01668-3
DO - 10.1007/s10846-022-01668-3
M3 - Article
AN - SCOPUS:85134267793
SN - 0921-0296
VL - 105
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
IS - 3
M1 - 68
ER -