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Selected papers from the 2nd International Symposium on UAVs, Reno, Nevada, U.S.A. June 8–10, 2009 pp 417–449Cite as

Multi-UAV Cooperation and Control for Load Transportation and Deployment

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Abstract

This paper deals with the cooperation and control of multiple UAVs with sensing and actuation capabilities. An architecture to perform cooperative missions with a multi-UAV platform is presented. The interactions between UAVs are not only information exchanges but also physical couplings required to cooperate in the joint transportation of a single load. Then, the paper also presents the control system for the transportation of a slung load by means of one or several helicopters. Experimental results of the load transportation system with one and three helicopters are shown. On the other hand, the UAVs considered in the platform can also deploy small objects, such as sensor nodes, on different locations if it is required. This feature along with the whole platform architecture are illustrated in the paper with a real multi-UAV mission for the deployment of sensor nodes to repair the connectivity of a wireless sensor network.

This work was partially funded by the European Union AWARE Project (IST-2006-33579), the CONET Network of Excellence (INFSO-ICT-224053) and the ROBAIR Project of the Spanish Research and Development Program (DPI2008-03847).

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Author information

Authors and Affiliations

  1. Robotics, Vision and Control Group, University of Seville, 41092, Seville, Spain

    I. Maza & A. Ollero

  2. Technische Universität Berlin, Einsteinufer 17, 10587, Berlin, Germany

    K. Kondak & M. Bernard

  3. Center for Advanced Aerospace Technology (CATEC), Seville, Spain

    A. Ollero

Authors
  1. I. Maza
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  2. K. Kondak
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  3. M. Bernard
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  4. A. Ollero
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Corresponding author

Correspondence to I. Maza .

Editor information

Editors and Affiliations

  1. Department of Electrical and Computer Engineering, CMK 300 School of Engineering and Computer Science, University of Denver, Denver, CO, 80208, USA

    Kimon P. Valavanis

  2. Dept. Electrical & Computer Engineering, Brigham Young University, Provo, UT, 84602, USA

    Randal Beard

  3. Applied Engineering Technology Program, Drexel University, 3001 One Drexel Plaza, Market St., Philadelphia, PA, 19104, USA

    Paul Oh

  4. Depto. Ingeniera Sistemas y Automática Camino de los Descubrimientos, Universidad de Sevilla Escuela Superior de Ingenieros, s/n 41092, Sevilla, Spain

    Aníbal Ollero

  5. Dept. Computer Science & Engineering, University of South Florida, 4202 E. Fowler Ave., Tampa, FL, 33620, USA

    Leslie A. Piegl

  6. Korea Advanced Institute of Science & Technology (KAIST), Department of Aerospace Engineering, 373-1 Guseong-dong Daejeon 305-701 Yuseong-gu, Republic of South Korea

    Hyunchui Shim

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Maza, I., Kondak, K., Bernard, M., Ollero, A. (2009). Multi-UAV Cooperation and Control for Load Transportation and Deployment. In: Valavanis, K.P., Beard, R., Oh, P., Ollero, A., Piegl, L.A., Shim, H. (eds) Selected papers from the 2nd International Symposium on UAVs, Reno, Nevada, U.S.A. June 8–10, 2009. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-8764-5_22

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  • DOI: https://doi.org/10.1007/978-90-481-8764-5_22

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-90-481-8763-8

  • Online ISBN: 978-90-481-8764-5

  • eBook Packages: EngineeringEngineering (R0)

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