@inproceedings{476e27e149a44596a73e76afc6a03f99,
title = "Coordinated transport of a slung load by a team of autonomous rotorcraft",
abstract = "This paper describes a hierarchical approach to coordinated transportation of a slung load by a team of autonomous helicopters. A closed-loop controller computes net force and moments on the load's center of gravity so a desired trajectory is followed; cable forces at each attachment point are computed so that the net force and moment on the center of gravity equal the desired values from the controller; finally each helicopter's position, velocity, and thrust are computed to obtain the desired attachment force, assuming a compliant cable connects the helicopter to the load. Results of simulations showing four degree of freedom transport of a load (North, East, Down position and yaw angle) show the utility of the proposed approach.",
author = "Li, {Zu Qun} and Horny, {Joseph F.} and Langelaanz, {Jack W.}",
year = "2014",
doi = "10.2514/6.2014-0968",
language = "English (US)",
isbn = "9781600869624",
series = "AIAA Guidance, Navigation, and Control Conference",
booktitle = "AIAA Guidance, Navigation, and Control Conference",
note = "AIAA Guidance, Navigation, and Control Conference 2014 - SciTech Forum and Exposition 2014 ; Conference date: 13-01-2014 Through 17-01-2014",
}