The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors

Transporting objects using aerial robots has been widely studied in the literature. Still, those approaches always assume that connection between quadrotor and load is made a previous stage. However, stage usually requires human intervention, autonomous procedures to locate attach object are not considered. Additionally, most of cables as rigid links, but manipulating considering state when hanging. In this work, we design control catenary robot. Our robot able transport hook-shaped environment. The robotic system composed two quadrotors attached ends cable. By defining curve with five degrees freedom, position 3-D, orientation z-axis, span, can drive track given trajectory. We validate our approach simulations real robots. present four different scenarios experiments. numerical solution computationally fast be executed real-time.