Quasi-static 6D Manipulation of a Cable-Suspended Load using Three Non-stopping Aerial Vehicles

The folder contains an init.m file to be run in MATLAB and a Simulink simulator generated with MATLAB version R2021b. The software simulated three aerial vehicles suspending a rigid payload through elastic cables. They follow coordinated non-stopping trajectories planned to ensure that the pose of a cable-suspended object is not perturbed by their non-stopping motions. The software is linked to the following reference: @INPROCEEDINGS{10556930, author={Gabellieri, Chiara and Franchi, Antonio}, booktitle={2024 International Conference on Unmanned Aircraft Systems (ICUAS)}, title={On the Existence of Static Equilibria of a Cable-Suspended Load with Non-stopping Flying Carriers}, year={2024}, volume={}, number={}, pages={638-644}, keywords={Task analysis;Aircraft;Gravity}, doi={10.1109/ICUAS60882.2024.10556930}}

Keywords

Cooperative aerial manipulation

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