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Authors: Yiyong Gou ; Lucas Dahl ; Jan Krüger ; Cavid Karca ; Dean Boonen and Rico Möckel

Affiliation: DKE SwarmLab, Department of Data Science and Knowledge Engineering, Maastricht University, Maastricht, The Netherlands

Keyword(s): Unmanned Aerial Carrier, Anchor Design, Companion UAV, Aerial Anchoring Mechanism.

Abstract: This paper demonstrates an unmanned aerial carrier as well as a new anchoring mechanism for connecting and transporting companion unmanned aerial vehicles (UAVs). Establishing this platform presents unique challenges including the requirements of precise localization of the platform, real-time environment mapping system, robust flight control approach, docking safety mechanism, and reliable anchor system for the companion UAV. To obtain the positioning information, a tightly-coupled visual-inertial optimization based odometry is implemented with a fisheye camera and an inertial measurement unit. A 3D map is updated in real-time using an Octomap framework. A nonlinear position model predictive controller cascaded with a DJI attitude controller is implemented for the flight control. Innovatively, we designed a lightweight anchoring mechanism for safe landing and reliable transportation of the companion UAV. Real-world experiments results suggest that the transportation system is a viab le approach to transport the companion UAV, and that the proposed anchoring mechanism allows for reliable operation. (More)

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Paper citation in several formats:
Gou, Y.; Dahl, L.; Krüger, J.; Karca, C.; Boonen, D. and Möckel, R. (2021). An Unmanned Aerial Carrier and Anchoring Mechanism for Transporting Companion UAVs. In Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - ROBOVIS; ISBN 978-989-758-537-1, SciTePress, pages 103-112. DOI: 10.5220/0010655500003061

@conference{robovis21,
author={Yiyong Gou. and Lucas Dahl. and Jan Krüger. and Cavid Karca. and Dean Boonen. and Rico Möckel.},
title={An Unmanned Aerial Carrier and Anchoring Mechanism for Transporting Companion UAVs},
booktitle={Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - ROBOVIS},
year={2021},
pages={103-112},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010655500003061},
isbn={978-989-758-537-1},
}

TY - CONF

JO - Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - ROBOVIS
TI - An Unmanned Aerial Carrier and Anchoring Mechanism for Transporting Companion UAVs
SN - 978-989-758-537-1
AU - Gou, Y.
AU - Dahl, L.
AU - Krüger, J.
AU - Karca, C.
AU - Boonen, D.
AU - Möckel, R.
PY - 2021
SP - 103
EP - 112
DO - 10.5220/0010655500003061
PB - SciTePress