Planning Parcel Relay Manoeuvres for Quadrotors

João Sousa Pinto, Bruno J. N. Guerreiro, Rita Cunha

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, a strategy for planning aggressive collision-free parcel relay manoeuvres for quadrotors is proposed. The method relies on the generation of optimal polynomial trajectories with acceleration constraints in order to coordinate the attitude of the vehicles during the package exchange. The problem is formulated as a mixed-integer quadratic program where the integer constraints ensure collision avoidance. The manoeuvre is divided into three phases and the dynamical model of the robots is considered to ensure the vehicles keep a suitable relative orientation during the parcel transfer. Simulation results demonstrate the success of the presented strategy.

Original languageEnglish
Title of host publication2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages137-145
Number of pages9
VolumePiscataway
ISBN (Electronic)9780738131153, 978-1-6654-1535-4
ISBN (Print)978-1-6654-4704-1
DOIs
Publication statusPublished - 15 Jun 2021
Event2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021 - Divani Caravel Hotel, Athens, Greece
Duration: 15 Jun 202118 Jun 2021

Publication series

NameInternational Conference on Unmanned Aircraft Systems (ICUAS)
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISSN (Print)2373-6720
ISSN (Electronic)2575-7296

Conference

Conference2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
Country/TerritoryGreece
CityAthens
Period15/06/2118/06/21

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