Multi-agent Payload Manipulation and Transportation\\ using Small Scale Quadrotor Platforms

Abstract

We have demonstrated the application of a 2-dimensional formation protocol used for the manipulation of an unknown object supported by n=3 agents. The protocol leverages a proportional-derivative consensus function which serves to maintain a rigid virtual linkage between agents while supporting a point-load. Additionally, a overlaying unit-vector consensus protocol was implemented as a simple means for agent distribution around a destination and formation orientation. All demonstrations were carried out in both simulation and on our custom quadrotor platforms. Within this thesis, we discuss both the experimental results, as well as the developmental process used to manufacture the tools required for application.