Publications
2023
D’Antonio, Diego S.; Bhattacharya, Subhrajit; Saldaña, David
Forming and Controlling Hitches in Midair Using Aerial Robots Proceedings Article
In: 2023 IEEE International Conference on Robotics and Automation (ICRA 2023), 2023.
Abstract | BibTeX | Tags: aerial manipulation, aerial robot, catenary robot, hitches, modular robots | Links:
@inproceedings{hitches,
title = {Forming and Controlling Hitches in Midair Using Aerial Robots},
author = {Diego S. D’Antonio and Subhrajit Bhattacharya and David Saldaña},
url = {https://youtu.be/EFig0cOaFZ4
https://arxiv.org/abs/2303.07427},
doi = { https://doi.org/10.48550/arXiv.2303.07427},
year = {2023},
date = {2023-01-01},
urldate = {2023-01-01},
booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA 2023)},
abstract = {The use of cables for aerial manipulation has shown to be a lightweight and versatile way to interact with objects. However, fastening objects using cables is still a challenge and human is required. In this work, we propose a novel way to secure objects using hitches. The hitch can be formed and morphed in midair using a team of aerial robots with cables. The hitch's shape is modeled as a convex polygon, making it versatile and adaptable to a wide variety of objects. We propose an algorithm to form the hitch systematically. The steps can run in parallel, allowing hitches with a large number of robots to be formed in constant time. We develop a set of actions that include different actions to change the shape of the hitch. We demonstrate our methods using a team of aerial robots via simulation and actual experiments.},
keywords = {aerial manipulation, aerial robot, catenary robot, hitches, modular robots},
pubstate = {published},
tppubtype = {inproceedings}
}
The use of cables for aerial manipulation has shown to be a lightweight and versatile way to interact with objects. However, fastening objects using cables is still a challenge and human is required. In this work, we propose a novel way to secure objects using hitches. The hitch can be formed and morphed in midair using a team of aerial robots with cables. The hitch's shape is modeled as a convex polygon, making it versatile and adaptable to a wide variety of objects. We propose an algorithm to form the hitch systematically. The steps can run in parallel, allowing hitches with a large number of robots to be formed in constant time. We develop a set of actions that include different actions to change the shape of the hitch. We demonstrate our methods using a team of aerial robots via simulation and actual experiments.
2022
D’Antonio, Diego S.; Saldaña, David
Folding Knots Using a Team of Aerial Robots Proceedings Article
In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3372-3377, 2022.
Abstract | BibTeX | Tags: aerial manipulation, aerial robot, catenary robot | Links:
@inproceedings{9981363,
title = {Folding Knots Using a Team of Aerial Robots},
author = {Diego S. D’Antonio and David Saldaña},
url = {https://arxiv.org/abs/2208.01482},
doi = {10.1109/IROS47612.2022.9981363},
year = {2022},
date = {2022-01-01},
urldate = {2022-01-01},
booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {3372-3377},
abstract = {From ancient times, humans have been using cables and ropes to tie, carry, and manipulate objects by folding knots. However, automating knot folding is challenging because it requires dexterity to move a cable over and under itself. In this paper, we propose a method to fold knots in midair using a team of aerial vehicles. We take advantage of the fact that vehicles are able to fly in between cable segments without any re-grasping. So the team grasps the cable from the floor, and releases it once the knot is folded. Based on a composition of catenary curves, we simplify the complexity of dealing with an infinite-dimensional configuration space of the cable, and formally propose a new knot representation. Such representation allows us to design a trajectory that can be used to fold knots using a leader-follower approach. We show that our method works for different types of knots in simulations. Additionally, we show that our solution is also computationally efficient and can be executed in real-time.},
keywords = {aerial manipulation, aerial robot, catenary robot},
pubstate = {published},
tppubtype = {inproceedings}
}
From ancient times, humans have been using cables and ropes to tie, carry, and manipulate objects by folding knots. However, automating knot folding is challenging because it requires dexterity to move a cable over and under itself. In this paper, we propose a method to fold knots in midair using a team of aerial vehicles. We take advantage of the fact that vehicles are able to fly in between cable segments without any re-grasping. So the team grasps the cable from the floor, and releases it once the knot is folded. Based on a composition of catenary curves, we simplify the complexity of dealing with an infinite-dimensional configuration space of the cable, and formally propose a new knot representation. Such representation allows us to design a trajectory that can be used to fold knots using a leader-follower approach. We show that our method works for different types of knots in simulations. Additionally, we show that our solution is also computationally efficient and can be executed in real-time.
2021
Cardona, Gustavo A.; D’Antonio, Diego S.; Vasile, Cristian-Ioan; Saldaña, David
Non-Prehensile Manipulation of Cuboid Objects Using a Catenary Robot Proceedings Article
In: 2021.
Abstract | BibTeX | Tags: aerial manipulation, aerial robot, cable, catenary robot, quadrotor | Links:
@inproceedings{nokey,
title = {Non-Prehensile Manipulation of Cuboid Objects Using a Catenary Robot},
author = {Gustavo A. Cardona and Diego S. D’Antonio and Cristian-Ioan Vasile and David Saldaña},
url = {https://youtu.be/Ou6DPlXPE7A},
year = {2021},
date = {2021-08-13},
urldate = {2021-08-13},
abstract = {Transporting objects using quadrotors with cables has been widely studied in the literature. However, most of those approaches assume that the cables are previously attached to the load by human intervention. In tasks where multiple objects need to be moved, the efficiency of the robotic system is constrained by the requirement of manual labor. Our approach uses a non-stretchable cable connected to two quadrotors, which we call the catenary robot, that fully automates the transportation task. Using the cable, we can roll and drag the cuboid object (box) on planar surfaces. Depending on the surface type, we choose the proper action, dragging for low friction, and rolling for high friction. Therefore, the transportation process does not require any human intervention as we use the cable to interact with the box without requiring fastening. We validate our control design in simulation and with actual robots, where we show them rolling and dragging boxes to track desired trajectories.},
keywords = {aerial manipulation, aerial robot, cable, catenary robot, quadrotor},
pubstate = {published},
tppubtype = {inproceedings}
}
Transporting objects using quadrotors with cables has been widely studied in the literature. However, most of those approaches assume that the cables are previously attached to the load by human intervention. In tasks where multiple objects need to be moved, the efficiency of the robotic system is constrained by the requirement of manual labor. Our approach uses a non-stretchable cable connected to two quadrotors, which we call the catenary robot, that fully automates the transportation task. Using the cable, we can roll and drag the cuboid object (box) on planar surfaces. Depending on the surface type, we choose the proper action, dragging for low friction, and rolling for high friction. Therefore, the transportation process does not require any human intervention as we use the cable to interact with the box without requiring fastening. We validate our control design in simulation and with actual robots, where we show them rolling and dragging boxes to track desired trajectories.
D’Antonio, Diego S.; Cardona, Gustavo A.; Saldaña, David
The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors Journal Article
In: IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 3857-3863, 2021, ISSN: 2377-3766.
Abstract | BibTeX | Tags: aerial manipulation, aerial robot, cable, catenary robot, quadrotor | Links:
@article{,
title = {The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors},
author = {Diego S. D’Antonio and Gustavo A. Cardona and David Saldaña },
url = {https://youtu.be/3SaKKjl6os0},
doi = {10.1109/LRA.2021.3062603},
issn = {2377-3766},
year = {2021},
date = {2021-02-26},
urldate = {2021-02-26},
journal = {IEEE Robotics and Automation Letters},
volume = {6},
number = {2},
pages = {3857-3863},
abstract = {Transporting objects using aerial robots has been widely studied in the literature. Still, those approaches always assume that the connection between the quadrotor and the load is made in a previous stage. However, that previous stage usually requires human intervention, and autonomous procedures to locate and attach the object are not considered. Additionally, most of the approaches assume cables as rigid links, but manipulating cables requires considering the state when the cables are hanging. In this work, we design and control a catenary robot. Our robot is able to transport hook-shaped objects in the environment. The robotic system is composed of two quadrotors attached to the two ends of a cable. By defining the catenary curve with five degrees of freedom, position in 3-D, orientation in z-axis, and span, we can drive the two quadrotors to track a given trajectory. We validate our approach with simulations and real robots. We present four different scenarios of experiments. Our numerical solution is computationally fast and can be executed in real-time.},
keywords = {aerial manipulation, aerial robot, cable, catenary robot, quadrotor},
pubstate = {published},
tppubtype = {article}
}
Transporting objects using aerial robots has been widely studied in the literature. Still, those approaches always assume that the connection between the quadrotor and the load is made in a previous stage. However, that previous stage usually requires human intervention, and autonomous procedures to locate and attach the object are not considered. Additionally, most of the approaches assume cables as rigid links, but manipulating cables requires considering the state when the cables are hanging. In this work, we design and control a catenary robot. Our robot is able to transport hook-shaped objects in the environment. The robotic system is composed of two quadrotors attached to the two ends of a cable. By defining the catenary curve with five degrees of freedom, position in 3-D, orientation in z-axis, and span, we can drive the two quadrotors to track a given trajectory. We validate our approach with simulations and real robots. We present four different scenarios of experiments. Our numerical solution is computationally fast and can be executed in real-time.
Cardona, Gustavo A.; D’Antonio, Diego S.; Fierro, Rafael; Saldaña, David
Adaptive Control for Cooperative Aerial Transportation Using Catenary Robots Proceedings Article
In: 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), pp. 1-8, 2021.
BibTeX | Tags: aerial manipulation, aerial robot, cable, catenary robot, quadrotor | Links:
@inproceedings{9571068,
title = {Adaptive Control for Cooperative Aerial Transportation Using Catenary Robots},
author = {Gustavo A. Cardona and Diego S. D’Antonio and Rafael Fierro and David Saldaña},
url = {https://youtu.be/MeEGL_PUBx4},
doi = {10.1109/AIRPHARO52252.2021.9571068},
year = {2021},
date = {2021-01-01},
urldate = {2021-01-01},
booktitle = {2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)},
pages = {1-8},
keywords = {aerial manipulation, aerial robot, cable, catenary robot, quadrotor},
pubstate = {published},
tppubtype = {inproceedings}
}
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