AFD-CAMLs: Agile Force-Distribution-Aware Planning and Control for Cable-Suspended Aerial Multi-Lifting Systems

Abstract:Multiple UAVs can cooperatively transport heavy payloads while controlling their position and orientation. Trajectory-based methods offer high agility while satisfying system constraints, but can produce uneven force distributions when the tension-to-wrench allocation is redundant or ill-conditioned, particularly under geometric mismatch and low-level tracking errors. We propose a hybrid planning-and-control framework to address this problem. A global planner generates payload trajectories and cable-force references by exploring the allocation null space under a prescribed internal-force setting. These references augment the cost of a centralized local planner, promoting feasible force distributions while generating trajectories for all UAVs. An admittance filter then compares the planned forces with onboard cable-tension estimates and adjusts the kinematic references to improve force tracking in degenerate or near-degenerate configurations. Simulations and experiments involving four to ten UAVs demonstrate more balanced tension distributions during both hovering and demanding agile maneuvers, without compromising agility or payload-tracking performance.

Robotics (cs.RO)

arXiv:2610.01185 [cs.RO]

(or arXiv:2610.01185v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.01185 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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