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dc.contributor.author
Jiménez-Cano, Antonio E.
dc.contributor.author
Sanalitro, Dario
dc.contributor.author
Tognon, Marco
dc.contributor.author
Franchi, Antonio
dc.contributor.author
Cortés, Juan
dc.date.accessioned
2022-08-04T12:30:20Z
dc.date.available
2022-07-23T03:01:22Z
dc.date.available
2022-08-04T12:30:20Z
dc.date.issued
2022-07
dc.identifier.issn
0921-0296
dc.identifier.issn
1573-0409
dc.identifier.other
10.1007/s10846-022-01668-3
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/559648
dc.identifier.doi
10.3929/ethz-b-000559648
dc.description.abstract
This work introduces the G-Fly-Crane, a proof-of-concept aerial multi-robot system designed to demonstrate the advantage of using multiple aerial robots as a valuable tool for novel construction techniques, not requiring the use of heavy engines and costly infrastructures. We experimentally demonstrate its capability to perform pick-and-place and manipulation tasks in a construction scenario, with an increased payload capacity and dexterity compared to the single robot case. The system is composed of three aerial robots connected to a platform by three pairs of cables. The platform is equipped with a gripper, enabling the grasping of objects. The paper describes in detail the hardware and software architecture of our prototype and explains the implemented control methods. A shared control strategy incorporates the human operator in the control loop, thus increasing the overall system reliability when performing complex tasks. The paper also discusses the next steps required to bring this technology from indoor laboratory conditions to real-world applications.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
Springer
en_US
dc.rights.uri
http://creativecommons.org/licenses/by/4.0/
dc.subject
Aerial robotics
en_US
dc.subject
Multi-robot systems
en_US
dc.subject
Shared control
en_US
dc.subject
Novel construction techniques
en_US
dc.title
Precise Cable-Suspended Pick-and-Place with an Aerial Multi-robot System
en_US
dc.type
Journal Article
dc.rights.license
Creative Commons Attribution 4.0 International
dc.date.published
2022-07-15
ethz.title.subtitle
A Proof of Concept for Novel Robotics-Based Construction Techniques
en_US
ethz.journal.title
Journal of Intelligent & Robotic Systems
ethz.journal.volume
105
en_US
ethz.journal.issue
3
en_US
ethz.journal.abbreviated
J. intell. robot. syst.
ethz.pages.start
68
en_US
ethz.size
13 p.
en_US
ethz.version.deposit
publishedVersion
en_US
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.place
Dordrecht
en_US
ethz.publication.status
published
en_US
ethz.date.deposited
2022-07-23T03:02:45Z
ethz.source
WOS
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2022-08-04T12:30:27Z
ethz.rosetta.lastUpdated
2023-02-07T05:03:48Z
ethz.rosetta.versionExported
true
ethz.COinS
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