Flight formation control for multi-rotors with slung payload

无人机（UAV）在自然资源监测、基础设施检查（管道、铁路）、农业、矿产勘探、新闻以及搜索和救援行动等各种应用中具有巨大的前景。这是航空航天工业中最具活力的部门，增长速度超过任何其他部门。无人机应用的一个新兴市场是包裹递送。从技术角度来看，这是可行的，但存在一些技术挑战。考虑用于商业应用的大多数无人机（无人机）都是小型的，以享受其便携性和机动性，但是由于容量限制，它们可能无法携带大的有效载荷。另一方面，大型飞行器配置将在灵活性和敏捷性方面降低无人机操作的好处。该研究项目提供了一种替代方案，即一组小型无人机协同飞行，以共享和携带包裹。 拟议的研究项目是与加拿大无人机交付公司合作。(DDC)通过原型设计和概念验证的实地飞行演示，支持公司在无人机自动包裹递送方面的举措。 这项新技术可能会对交付部门产生破坏性影响，因为它可以扩展以满足各种客户需求。* 拟议项目将处理以下技术问题。1)（2）稳定性;（3）控制。本计画的总体研究目标是设计一套完整的系统，以供多旋翼机群透过缆线悬吊系统协同执行有效负载转移。这些结果预计将通过DDC的实地飞行实验得到证明。

Unmanned aerial vehicles (UAVs) hold great promise for applications as diverse as natural resource monitoring, infrastructure inspection (pipeline, railways), agriculture, mineral exploration, journalism, and search & rescue operations. This is the most vibrant sector of the aerospace industry, growing more quickly than any other segment. One emerging market of UAV applications is package delivery. From technology perspective, it is feasible yet there exist some technical challenges. Most UAVs (drones) in consideration for commercial applications are small sized to enjoy their portability and mobility, however they may not be able to carry large payload due to the capacity constraints. A large vehicle configuration, on the other hand, would discount the benefits of UAV operations in terms of flexibility and agility. This proposed research project offers an alternative solution, that is, to fly a group of small UAVs in coordination to share and carry package. The proposed research project is in collaboration with Drone Delivery Canada Inc. (DDC) with prototyping and proof-of-concept field flight demonstration to support the company's initiative in autonomous package delivery by UAVs. The novel technology may have disruptive impact on the delivery sector as it is scalable to meet various customer requirements. ****The proposed project will address the following technical aspects. 1) Dynamics; 2) Stability; and 3) Control. The overall research goal of this project is to design a complete system for multi-rotor fleet to cooperatively perform payload transfer through cable suspension system. The results are expected to be demonstrated by field flight experiments with DDC.****