Dual quadrotors carry payloads with sliding cable connection
Cooperative Aerial Transportation of a Payload with a Sliding Cable Attachment
RoboticsMultiagent Systems
Summary
Moving heavy objects with drones is tricky when the load can slide along the cables holding it. This paper studies how two drones connected by a single cable that passes through a hook on the payload can cooperate to carry and maneuver the object. The authors developed a planning and control method to keep the tension in the cables positive, avoid slack, and respect drone limits. They tested their method with actual quadrotor drones showing that the payload can be moved as intended even though the cable can slide.
What this means in practice
- •For aerial robotics developers: Design multi-drone systems that transport loads with flexible cable connections and maintain stability without direct payload attachment.
- •For drone logistics operators: Coordinate dual quadrotor missions to safely carry irregular or sliding payloads in constrained workspaces while ensuring cable tension.
Authors
Sebastian Tilaguy Lezama, Diego S D'Antonio
Abstract
This paper presents a dual-quadrotor hook- suspended transport system for cooperative aerial manipulation of a payload that is not rigidly attached to a fixed point along the cable. Two quadrotors are connected by a single inextensible cable that passes through a frictionless hook mounted on the payload, allowing the cable to slide between its two segments. This introduces a cable-distribution variable that couples the quadrotor motion, cable geometry, and payload dynamics. A feasible reference-generation framework is formulated using the desired payload pose, cable distribution, and system shape while satisfying the cable-length constraint and elliptical workspace. The quadrotors track the geometrically generated trajectories while maintaining positive cable tension and respecting actuator limits. The payload pose is estimated from the system geometry, and its measured position is used only to validate the desired trajectory. The approach is evaluated through experimental demonstrations.