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Multi-UAV Collaborative Transportation of Payloads with Obstacle Avoidance

Hegde, A and Ghose, D (2022) Multi-UAV Collaborative Transportation of Payloads with Obstacle Avoidance. In: IEEE Control Systems Letters, 6 . pp. 926-931.

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Official URL: https://doi.org/10.1109/LCSYS.2021.3087339


Control barrier functions have been widely studied and applied to safety-critical systems, including multi-agent obstacle avoidance problems. In this work, we apply control barrier functions to a collaborative transportation problem involving two unmanned aerial vehicles (UAVs) moving a payload around obstacles as they deliver it to a target location. We develop a target-tracking controller for the UAVs, which is constrained to meet the requirements of payload dynamics and obstacle avoidance. We also present simulation results to demonstrate the benefits of the proposed problem formulation for a multi-obstacle environment. © 2017 IEEE.

Item Type: Journal Article
Publication: IEEE Control Systems Letters
Publisher: Institute of Electrical and Electronics Engineers Inc.
Additional Information: The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords: Aircraft detection; Antennas; Safety engineering; Unmanned aerial vehicles (UAV), Control barriers; Multi agent; Multi UAV; Payload dynamics; Problem formulation; Safety critical systems; Target location; Transportation problem, Multi agent systems
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 22 Sep 2021 10:12
Last Modified: 22 Sep 2021 10:12
URI: http://eprints.iisc.ac.in/id/eprint/69714

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