Most existing works on cable-suspended payload manipulation use of multirotor UAVs, leveraging their hovering capabilities and maneuverability. Besides these benefits, multirotors are also characterized by limited endurance, which restrict long-distance transport. In contrast, convertible and fixed-wing UAVs offer superior aerodynamic efficiency and endurance, crucial for object transportation. However, these efficient vehicles are constrained to a non-zero forward speed, thus introducing challenges in the precise pose control of the suspended load.
Recent existing work is proposing a paradigm shift in aerial robotic cooperative transportation, enabling control of the suspended object’s pose via coordinated non-stop flights [1,2].
This thesis, carried out at the University of Twente in collaboration with ENAC (Toulouse, France) quantitatively assess the energy efficiency of cooperative aerial transport of cable-suspended load through convertible UAVs.
The thesis answers the research question:
How much energy is spared when using convertible UAVs instead of multirotor UAVs for cooperative aerial transport of cable-suspended load?
The thesis goes through the following steps
- Using the simulator developed at ENAC, the candidate set up a cooperative manipulation scenario with 3 convertible UAVs manipulating a suspended rigid body.
- The candidate substitutes the convertible UAVs with multirotors of realistic and appropriate payload and capacity in the simulator and carries out the same transport task.
- The candidate carreies out a comparative analysis of the energy spent in the two scenarios. They also assess other relevant metrics, such as the average and maximum pose error of the transported object.
- (Optional) The candidate simulates disturbances such as state uncertainties, wind, delays, etc., and assesses the robustness of the manipulation method using convertible and multirotor UAVs.
References
[1] “On the Existence of Static Equilibria of a Cable-Suspended Load with Non-stopping Flying Carriers” C Gabellieri, A Franchi. The 2024 International Conference on Unmanned Aircraft Systems (ICUAS) https://arxiv.org/pdf/2402.19315
[2] “Coordinated Trajectories for Non-stop Flying Carriers Holding a Cable-Suspended Load” C Gabellieri, A Franchi arXiv preprint arXiv:2503.03481 https://arxiv.org/pdf/2503.03481