@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}

}