Transportation of Payload Using Multiple Quadrotors via Rigid Connection
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
Due to the limited payload capability of an aerial robot, multiple quadrotors can be used to manipulate payloads in aerial transportation, construction, and assembly tasks. This paper focuses on the cooperative transportation of a payload rigidly attached to multiple quadrotor bodies. These quadrotors may have different orientations. The dynamics equation of a rigid body in 3-D space is derived to describe the motion of such a transportation system. Robust position and attitude controllers are designed to drive the system to the desired pose. To assign control signals for each quadrotor, the control command allocation method compatible with the case that partial or all quadrotors are in parallel planes is developed. Finally, experimental results are presented to validate the effectiveness of the proposed controllers and control command allocation methods. Different from classical works in this field, this paper can solve the dynamics modeling, controller design, and control command allocation problems for the transportation of a rigidly connected payload using a team of quadrotors with different orientations.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it