Shared Control of an Aerial Cooperative Transportation System with a Cable-suspended Payload

Abstract This paper presents a novel bilateral shared framework for cooperative aerial transportation and manipulation system composed by team of micro vehicles with cable-suspended payload. The human operator is in charge steering the payload he/she can also change online desired shape formation robots. At same time, an obstacle avoidance algorithm avoiding collisions static environment. signals from user are blended together trajectory generation module, means tracking controller filter called dynamic input boundary (DIB). DIB filters out directions motions that would bring too close to singularities, according suitable metric. loop finally closed force feedback informative mismatch between operator’s commands intuitively increases user’s awareness obstacles or configurations singularities. proposed validated realistic hardware-in-the-loop simulations person operating via force-feedback haptic interface.