Planning and control of a multiple-quadcopter system cooperatively carrying a slung payload in dynamical environments. A centralized model predictive control solution

Abstract

Disseny d'un algoritme de control per un sistema de múltiples quadrotors transportant una càrrega mitjançant cordes.

Unmanned Aerial Vehicles have been thoroughly used for transportation in unpredictable environments. However, one of the limits for these applications is usually the payload mass, as it cannot be too big in relation to the drones' mass. In this thesis, we propose the use of multiple drones for coope