Collaborative object manipulation on the water surface by a team of UAV and USV using tethers
Filip Novák, Tomáš Báča, and Martin Saska
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Abstract:
This paper introduces an innovative framework for collaborative object manipulation on water surfaces through the collaboration of Unmanned Aerial Vehicle (UAV) and Unmanned Surface Vehicle (USV) connected to the object by tethers. Proposing a novel mathematical model of a robotic system that includes UAV, USV, and the tethered floating object, the presented model is utilized in Model Predictive Control (MPC) to offer precise control and guidance for this collaborative robotic system. The proposed framework addresses the limitations of individual robots to provide a solution for diverse marine robotics applications through the collaboration of a team of a UAV and a USV that are physically connected by tethers. Simulations in the Gazebo realistic robotic simulator demonstrate the system’s readiness for real-world deployment, highlighting its versatility and effectiveness.
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