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Proximal cooperative aerial manipulation with vertically stacked drones.

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This study introduces FlyingToolbox, a system enabling stable aerial manipulation with multirotor flying robots in close vertical proximity. It achieves sub-centimetre docking accuracy despite intense downwash, overcoming previous safety concerns.

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Area of Science:

  • Robotics
  • Aerospace Engineering
  • Control Systems

Background:

  • Vertical-stack proximal flight of multirotor robots is challenging due to intense downwash interference.
  • This proximity is often avoided in aerial manipulation tasks despite its potential benefits.

Purpose of the Study:

  • To develop a cooperative aerial manipulation system, FlyingToolbox, capable of stable operation under vertical-stack flight conditions.
  • To achieve high-precision docking and tool exchange between micro-aerial vehicles (MAVs) in close proximity.

Main Methods:

  • Designed a system comprising a toolbox MAV and a manipulator MAV.
  • Developed autonomous docking algorithms for a robotic arm to grasp tools from the toolbox MAV.
  • Tested the system's performance under significant downwash airflow conditions.

Main Results:

  • Achieved sub-centimetre-level docking accuracy (0.80 ± 0.33 cm).
  • Demonstrated stable operation in the presence of downwash airflow up to 13.18 m/s.
  • Successfully enabled midair tool exchange between MAVs in close proximity.

Conclusions:

  • FlyingToolbox resolves the conflict between flight proximity and manipulation accuracy in aerial robotics.
  • Presents a new paradigm for heterogeneous and interactive flying robot cooperation.
  • Suggests potential for diverse applications requiring precise aerial manipulation.