ABUALI, Saleh (Grenoble INP), Skantzikas, Kostas (Grenoble INP), SUSBIELLE, Pierre (CNRS), Marchand, Nicolas (GIPSA-lab CNRS), Brinon Arranz, Lara (GIPSA-lab - Grenoble INP)

Communication-Free Cooperative Transportation with Multiple UAVs

Scheduled for presentation during the Regular Session "Cooperative Multi-Robot Control" (WeCT4), Wednesday, July 16, 2025, 18:10−18:30, Room 108

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

This paper investigates the cooperative transportation problem using multiple UAVs equipped with a cable-suspended point-mass load. Instead of using inter-UAV communication, our system relies only on locally available information. We introduce a distributed communication-free control strategy to stabilize an evenly spaced circular formation by leveraging cable tension. A leader-follower approach is designed to ensure load position tracking while maintaining the desired formation. The proposed strategy has been validated through extensive numerical simulations and real-world experiments with 3 UAVs carrying a small load.