Precise Cable-Suspended Pick-and-Place with an Aerial Multi-robot System: A Proof of Concept for Novel Robotics-Based Construction Techniques

A. E. Jiménez-Cano, D. Sanalitro, M. Tognon, A. Franchi*, J. Cortés

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

11 Citations (Scopus)
10 Downloads (Pure)

Abstract

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.

Original languageEnglish
Article number68
Number of pages13
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Volume105
Issue number3
Early online date15 Jul 2022
DOIs
Publication statusPublished - Jul 2022

Keywords

  • Aerial robotics
  • Multi-robot systems
  • Novel construction techniques
  • Shared control
  • UT-Hybrid-D

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