{"id":396,"date":"2019-10-22T16:11:14","date_gmt":"2019-10-22T20:11:14","guid":{"rendered":"http:\/\/flight.utias.utoronto.ca\/?p=396"},"modified":"2024-02-07T17:18:00","modified_gmt":"2024-02-07T22:18:00","slug":"payload","status":"publish","type":"post","link":"https:\/\/flight.utias.utoronto.ca\/index.php\/payload","title":{"rendered":"payloadFly: Cooperative Payload Control with Disturbance Rejection"},"content":{"rendered":"\n<div class=\"wp-block-media-text alignwide is-stacked-on-mobile\"><figure class=\"wp-block-media-text__media\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"705\" src=\"http:\/\/flight.utias.utoronto.ca\/wp-content\/uploads\/2019\/10\/Screenshot-from-2019-10-22-16-35-51-e1571776614121-1024x705.png\" alt=\"\" class=\"wp-image-401 size-full\" srcset=\"https:\/\/flight.utias.utoronto.ca\/wp-content\/uploads\/2019\/10\/Screenshot-from-2019-10-22-16-35-51-e1571776614121-1024x705.png 1024w, https:\/\/flight.utias.utoronto.ca\/wp-content\/uploads\/2019\/10\/Screenshot-from-2019-10-22-16-35-51-e1571776614121-300x207.png 300w, https:\/\/flight.utias.utoronto.ca\/wp-content\/uploads\/2019\/10\/Screenshot-from-2019-10-22-16-35-51-e1571776614121-768x529.png 768w, https:\/\/flight.utias.utoronto.ca\/wp-content\/uploads\/2019\/10\/Screenshot-from-2019-10-22-16-35-51-e1571776614121.png 1387w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure><div class=\"wp-block-media-text__content\">\n<p class=\"wp-block-paragraph\">Delivery has become one emerging sector of unmanned aerial systems applications. The low cost and simple operation give quad-rotors benefits for delivery in short distance transportation. Among various options, the cable suspended payload configuration has advantages in terms of easy mechanism, light weight, flexible loading and drop-off without vehicle landing. We further propose to fly a group of quad-rotors in coordination to carry payload of different shapes and weights, to significantly increase the payload delivery flexibility. Specifically, we would like to address the following technical challenges:<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>multi-drone with tethered payload configuration stabilization<\/li><li>path following or trajectory tracking control<\/li><li>automatic guidance and soft landing of payload<\/li><li>robust control against environmental disturbances<\/li><li>vision based state estimation and visual servoing<\/li><\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">This project involves fundamental research on systems modelling and control, development on system design and flight experimental demonstration. The project is sponsored by Natural Science and Engineering Research Council of Canada (NSERC) through its Collaborative Research and Development Program (CRDPJ 508381-16), in collaboration with Drone Delivery Canada.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n<\/div><\/div>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\nhttps:\/\/www.youtube.com\/watch?v=W3Oi3pnuPzo&#038;list=PLGJ05aPUKXH-Y6WUyEvXKBSRT5AAzUQf-&#038;index=3&#038;t=0s\n<\/div><\/figure>\n\n\n\n<h4 class=\"wp-block-heading\">Participants: <\/h4>\n\n\n\n<ul class=\"wp-block-list\"><li>Silas Graham (MASc)<\/li><li>Ho Helson Go (MASc)<\/li><li>Longhao Qian (PhD)<\/li><\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">Related Publications:<\/h4>\n\n\n<div class=\"teachpress_pub_list\"><form name=\"tppublistform\" method=\"get\"><a name=\"tppubs\" id=\"tppubs\"><\/a><\/form><div class=\"teachpress_message_error\"><p>Sorry, no publications matched your criteria.<\/p><\/div><\/div>\n\n\n\n<h4 class=\"wp-block-heading\">Sponsors:<\/h4>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"64\" class=\"wp-image-505\" style=\"width: 150px;\" src=\"https:\/\/flight.utias.utoronto.ca\/wp-content\/uploads\/2019\/10\/nserc.png\" alt=\"\" srcset=\"https:\/\/flight.utias.utoronto.ca\/wp-content\/uploads\/2019\/10\/nserc.png 330w, https:\/\/flight.utias.utoronto.ca\/wp-content\/uploads\/2019\/10\/nserc-300x128.png 300w\" sizes=\"auto, (max-width: 150px) 100vw, 150px\" \/> <\/td><td><a href=\"https:\/\/www.nserc-crsng.gc.ca\/index_eng.asp\">Natural Sciences and Engineering Research Council<\/a><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"28\" class=\"wp-image-503\" style=\"width: 150px;\" src=\"https:\/\/flight.utias.utoronto.ca\/wp-content\/uploads\/2019\/10\/ddc.jpg\" alt=\"\"><\/td><td><a href=\"https:\/\/dronedeliverycanada.com\/\"> Drone Delivery Canada Corp. <\/a><\/td><\/tr><\/tbody><\/table><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>Delivery has become one emerging sector of unmanned aerial systems applications. The low cost and simple operation give quad-rotors benefits for delivery in short distance transportation. Among various options, the cable suspended payload configuration has advantages in terms of easy <span class=\"readmore\"><a href=\"https:\/\/flight.utias.utoronto.ca\/index.php\/payload\">Continue Reading &#8230;<\/a><\/span><\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[43],"tags":[],"class_list":["post-396","post","type-post","status-publish","format-standard","hentry","category-current-project-list"],"_links":{"self":[{"href":"https:\/\/flight.utias.utoronto.ca\/index.php\/wp-json\/wp\/v2\/posts\/396","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/flight.utias.utoronto.ca\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/flight.utias.utoronto.ca\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/flight.utias.utoronto.ca\/index.php\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/flight.utias.utoronto.ca\/index.php\/wp-json\/wp\/v2\/comments?post=396"}],"version-history":[{"count":42,"href":"https:\/\/flight.utias.utoronto.ca\/index.php\/wp-json\/wp\/v2\/posts\/396\/revisions"}],"predecessor-version":[{"id":2021,"href":"https:\/\/flight.utias.utoronto.ca\/index.php\/wp-json\/wp\/v2\/posts\/396\/revisions\/2021"}],"wp:attachment":[{"href":"https:\/\/flight.utias.utoronto.ca\/index.php\/wp-json\/wp\/v2\/media?parent=396"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/flight.utias.utoronto.ca\/index.php\/wp-json\/wp\/v2\/categories?post=396"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/flight.utias.utoronto.ca\/index.php\/wp-json\/wp\/v2\/tags?post=396"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}