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Virtual-Tube-Based Cooperative Transport Control for Multi-UAV Systems in Constrained Environments

Runxiao Liu, Pengda Mao, Xiangli Le, Shuang Gu, Yapeng Chen, Quan Quan

TL;DR

This work tackles cooperative transport of a cable-suspended load by multiple UAVs in constrained environments. It integrates virtual tube theory with dissipative system principles to produce a distributed, low-overhead controller that preserves tension distribution while guiding the swarm through obstacle-rich corridors. The authors provide stability proofs for the first-order velocity-control extension, derive a Lyapunov-based convergence framework, and demonstrate effectiveness via large-scale simulations (up to ten UAVs) and outdoor experiments with heavy loads. The approach yields scalable, robust coordination, safe operation, and automatic formation adaptation in narrow passages, with potential for autonomous tube generation in future work. The framework offers practical impact for rapid, reliable aerial load transportation in complex real-world scenarios, where traditional VT or formation-based methods struggle.

Abstract

This paper proposes a novel control framework for cooperative transportation of cable-suspended loads by multiple unmanned aerial vehicles (UAVs) operating in constrained environments. Leveraging virtual tube theory and principles from dissipative systems theory, the framework facilitates efficient multi-UAV collaboration for navigating obstacle-rich areas. The proposed framework offers several key advantages. (1) It achieves tension distribution and coordinated transportation within the UAV-cable-load system with low computational overhead, dynamically adapting UAV configurations based on obstacle layouts to facilitate efficient navigation. (2) By integrating dissipative systems theory, the framework ensures high stability and robustness, essential for complex multi-UAV operations. The effectiveness of the proposed approach is validated through extensive simulations, demonstrating its scalability for large-scale multi-UAV systems. Furthermore, the method is experimentally validated in outdoor scenarios, showcasing its practical feasibility and robustness under real-world conditions.

Virtual-Tube-Based Cooperative Transport Control for Multi-UAV Systems in Constrained Environments

TL;DR

This work tackles cooperative transport of a cable-suspended load by multiple UAVs in constrained environments. It integrates virtual tube theory with dissipative system principles to produce a distributed, low-overhead controller that preserves tension distribution while guiding the swarm through obstacle-rich corridors. The authors provide stability proofs for the first-order velocity-control extension, derive a Lyapunov-based convergence framework, and demonstrate effectiveness via large-scale simulations (up to ten UAVs) and outdoor experiments with heavy loads. The approach yields scalable, robust coordination, safe operation, and automatic formation adaptation in narrow passages, with potential for autonomous tube generation in future work. The framework offers practical impact for rapid, reliable aerial load transportation in complex real-world scenarios, where traditional VT or formation-based methods struggle.

Abstract

This paper proposes a novel control framework for cooperative transportation of cable-suspended loads by multiple unmanned aerial vehicles (UAVs) operating in constrained environments. Leveraging virtual tube theory and principles from dissipative systems theory, the framework facilitates efficient multi-UAV collaboration for navigating obstacle-rich areas. The proposed framework offers several key advantages. (1) It achieves tension distribution and coordinated transportation within the UAV-cable-load system with low computational overhead, dynamically adapting UAV configurations based on obstacle layouts to facilitate efficient navigation. (2) By integrating dissipative systems theory, the framework ensures high stability and robustness, essential for complex multi-UAV operations. The effectiveness of the proposed approach is validated through extensive simulations, demonstrating its scalability for large-scale multi-UAV systems. Furthermore, the method is experimentally validated in outdoor scenarios, showcasing its practical feasibility and robustness under real-world conditions.
Paper Structure (15 sections, 30 equations, 8 figures, 2 tables)

This paper contains 15 sections, 30 equations, 8 figures, 2 tables.

Table of Contents

  1. Introduction
  2. Preliminary and Problem Formulation
  3. Cooperative transport model of the UAV-cable-load system
  4. Virtual tube model for the UAV-cable-load system
  5. Objective
  6. Controller Design
  7. Cooperative transport control
  8. Virtual tube passing through control
  9. Synthesis of control components and convergence analysis
  10. Implement
  11. Numerical Simulation and Analysis
  12. Simulation Result
  13. Comparison with virtual tube control
  14. Experiments and Analysis
  15. Conclusion

Figures (8)

  • Figure 1: Outdoor experiments of cooperative transport by multiple UAVs with virtual tube
  • Figure 2: The UAV-cable-load system
  • Figure 3: The example of a virtual tube
  • Figure 4: Control diagram
  • Figure 5: An example of an intermediate system for the UAV-cable-load system
  • ...and 3 more figures