This paper presents a motion planning approach for cooperative transportation using aerial robots. We describe a framework based on Parametric Dynamic Movement Primitives (PDMPs) for coordinating multiple aerial robots and their manipulators quickly in an environment cluttered with obstacles. In ...
Abstract: This paper presents planning and control synthesis for multiple aerial manipulators to transport a common object. Each aerial manipulator that consists of a hexacopter and a two-degree-of-freedom robotic arm is controlled by an augmented adaptive sliding mode controller based on a close...
Abstract: This paper focuses on the optimal motion planning problem for cooperative aerial manipulation. We use the rapidly exploring random trees star (RRT) algorithm that finds feasible paths quickly and optimizes them. For local planning within RRT, we developed a trajectory planner using Bezi...