GPAC is a decentralized geometric controller with adaptive mass estimation and safety filters that lets N quadrotors transport a cable-suspended payload via local cable-based implicit coordination without central commands or full system knowledge.
Agile and cooperative aerial manipulation of a cable- suspended load
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A neural network replaces sensor-based residual computation in INDI controllers for quadrotors, enabling equivalent trajectory tracking performance without rotor RPM measurements, demonstrated experimentally with and without slung payloads.
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Learned Incremental Nonlinear Dynamic Inversion for Quadrotors with and without Slung Payloads
A neural network replaces sensor-based residual computation in INDI controllers for quadrotors, enabling equivalent trajectory tracking performance without rotor RPM measurements, demonstrated experimentally with and without slung payloads.