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- W4210368917 abstract "Collaborative load manipulation and transportation is an emerging application of multi-unmanned aerial vehicle (UAV) systems. We address a problem where a team of UAVs transport a semi-flexible payload in an environment with multiple obstacles. By considering a semi-flexible payload, we restrict its flexibility to allow for safe-shape manipulation, which helps to navigate between obstacles while avoiding inter-UAV and payload-obstacle collisions. Control barrier functions (CBFs) are used to construct the obstacle avoidance and shape constraints, which are applied along with actuator constraints to an optimization-based control problem. The analysis is supported with simulation results for a team of four UAVs manipulating a payload in the presence of obstacles and settling on a standoff circle about a target." @default.
- W4210368917 created "2022-02-08" @default.
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- W4210368917 date "2021-12-14" @default.
- W4210368917 modified "2023-10-16" @default.
- W4210368917 title "Collaborative Guidance of UAV-Transported Semi-Flexible Payloads in Environments with Obstacles" @default.
- W4210368917 doi "https://doi.org/10.1109/cdc45484.2021.9683227" @default.
- W4210368917 hasPublicationYear "2021" @default.
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