Work

Tension-Based Reconfigurable Multi-Agent Formation for Aerial Load Transportation

Year: 2025

Type: article

Abstract: This paper proposes a trajectory tracking controller for a cable-suspended load transported bynunmanned aerial vehicles based on Euler angle states. This is accomplished using the resultant tension on the load as a virtual input and then distributing it to each vehicle, for which low-level controllers generate the correct thrust and torque values. Furthermore, a leader-follower-based control is proposed to safely change the number of agents carrying the load. Numerical simulations are presented to validate the controllers. Finally, experiments show that the proposed method effectively makes the load perform as expected and allows one to change the formation configuration without severely impacting the load navigation.

Source: IEEE Access

DOI: 10.1109/access.2025.3584623

Authors: Vinícius Pacheco Bacheti, Daniel K. D. Villa, Rogelio Lozano, Mário Sarcinelli-Filho, Pedro Castillo

Institutions: Universidade Federal do Espírito Santo, Université de Technologie de Compiègne, Centre National de la Recherche Scientifique, Heuristics and Diagnostics for Complex Systems

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: gold

Estimated APC paid: $2,075