4 papers
CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads
Viktor Lorentz, Khaled Wahba, Sayantan Auddy +2
Collaborative transportation of cable-suspended payloads by teams of UAVs has the potential to enhance payload capacity, adapt to different payload shapes, and provide built-in com…
Learned Incremental Nonlinear Dynamic Inversion for Quadrotors with and without Slung Payloads
Eckart Cobo-Briesewitz, Khaled Wahba, Wolfgang Hönig
The increasing complexity of multirotor applications demands flight controllers that can accurately account for all forces acting on the vehicle. Conventional controllers model mos…
pc-dbCBS: Kinodynamic Motion Planning of Physically-Coupled Robot Teams
Khaled Wahba, Wolfgang Hönig
Motion planning problems for physically-coupled multi-robot systems in cluttered environments are challenging due to their high dimensionality. Existing methods combining sampling-…
Kinodynamic Motion Planning for a Team of Multirotors Transporting a Cable-Suspended Payload in Cluttered Environments
Khaled Wahba, Joaquim Ortiz-Haro, Marc Toussaint +1
We propose a motion planner for cable-driven payload transportation using multiple unmanned aerial vehicles (UAVs) in an environment cluttered with obstacles. Our planner is kinody…