My Projects
Multi-Drone Slung Load Trajectory Generation and Stabilizaiton.
As part of a 3 person project group, we implemented a 3-drone slung load system in PyDrake for a graduate school course in underactuated robotics. Given the state of the slung-load, the done trajectories may be calculated. However, since there are infinite solutions, certain degrees of freedom need to be pre-determined. These are often set to zero for mathematical simplicity. This is one of the ideas behind differential flatness.
As a novel approach, the trajectory generation was done using a solver, which allows for much easier fine-tuning of which trajectory variables should be predetermined on the drone trajectories. This project is a unique tool to determine which variables should be pre-determined.
See a short clip of the 3-drone system carrying a slung load here.
Image source: underactuated.csail.mit.edu