Multi-UAV Cooperation and Control for Load Transportation and Deployment

• Published in: Journal of intelligent & robotic systems Vol. 57; no. 1-4; pp. 417 - 449
• Main Authors: Maza, I., Kondak, K., Bernard, M., Ollero, A.
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.01.2010; Springer Nature B.V
• Subjects: Architecture; Artificial Intelligence; Control; Cooperation; Electrical Engineering; Engineering; Helicopters; Mechanical Engineering; Mechatronics; Missions; Platforms; Robotics; Sensors; Transportation; Unmanned aerial vehicles; Multi-UAV load transportation; Sensor deployment; Multi-UAV distributed decision; Multiple UAVs
• ISSN: 0921-0296; 1573-0409
• DOI: 10.1007/s10846-009-9352-8

This paper deals with the cooperation and control of multiple UAVs with sensing and actuation capabilities. An architecture to perform cooperative missions with a multi-UAV platform is presented. The interactions between UAVs are not only information exchanges but also physical couplings required to cooperate in the joint transportation of a single load. Then, the paper also presents the control system for the transportation of a slung load by means of one or several helicopters. Experimental results of the load transportation system with one and three helicopters are shown. On the other hand, the UAVs considered in the platform can also deploy small objects, such as sensor nodes, on different locations if it is required. This feature along with the whole platform architecture are illustrated in the paper with a real multi-UAV mission for the deployment of sensor nodes to repair the connectivity of a wireless sensor network.