We combined the approaches described in [1] and [2] to design a set of control strategies for a multi-quadrotor system to cooperatively carry a slung load.
Check out 6_8210_Final_Project_Report.pdf for the project report!
Project video link: https://youtu.be/c17hjDMm7Gw Additional videos: https://youtube.com/playlist?list=PLU6BDl-vm1jQolVMZFbHOre19acIl-vtI
[1] K. Sreenath and V. Kumar, “Dynamics, Control and Planning for Cooperative Manipulation of Payloads Suspended by Cables from Multiple Quadrotor Robots,” in Robotics: Science and Systems IX. Robotics: Science and Systems Foundation, Jun. 2013.
[2] D. Mellinger and V. Kumar, “Minimum snap trajectory generation and control for quadrotors,” in 2011 IEEE International Conference on Robotics and Automation, May 2011,