Agile and cooperative aerial manipulation of a cable-suspended load

Quadrotors can carry slung loads to hard-to-reach locations at high speed. Since a single quadrotor has limited payload capacities, using a team of quadrotors to collaboratively manipulate a heavy object is a scalable and promising solution. However, existing control algorithms for multi-lifting systems only enable low-speed and low-acceleration operations due to the complex dynamic coupling between quadrotors and the load, limiting their use in time-critical missions such as search and rescue. In this work, we present a solution to significantly enhance the agility of cable-suspended multi-lifting systems. Unlike traditional cascaded solutions, we introduce a trajectory-based framework that solves the whole-body kinodynamic motion planning problem online, accounting for the dynamic coupling effects and constraints between the quadrotors and the load. The planned trajectory is provided to the quadrotors as a reference in a receding-horizon fashion and is tracked by an onboard ..., , , # Agile and cooperative aerial manipulation of a cable-suspended load

[https://doi.org/10.5061/dryad.n2z34tn6w](https://doi.org/10.5061/dryad.n2z34tn6w)

## Description of the data and file structure

This dataset includes ROS bag files collected during the flight experiments. All ROS topics during the experiments are collected and recorded. The data set includes flights of

* Trajectory tracking (Fast reference)
* Trajectory tracking (Fast reference) with a sloshing load
* Trajectory tracking (Fast reference) under reduced thrust limits
* Trajectory tracking (Fast reference) under random-walk quadrotor state estimation errors
* Setpoint tracking
* Obstacle avoidance (Horizontal gap)
* Obstacle avoidance (Vertical gap)

### Files and variables

The relevant topics in the bag files are:

* CPU time: /cpu_time
* Cable states: /drone[x]/cable
* Reference thrust: /drone[x]/ref_thrust
* Quadrotor states: /falcon[x]/agiros_pilot/state
* Quadrotor IMU data: /falcon[x]/imu
* Load estimated sta...,