kite 🪁 alias for CHAIT: Cable-suspended Hybrid Aerial Inflight-grasping and Transportation
ROS1/Gazebo plugins for cable-suspended collaborative aerial manipulation simulations developed for Dynamics and Control for Collaborative Aerial Manipulation dissertation.
This package is particularly designed for payload grasping using cable-suspended grippers and cable-suspended payload transportation using quadrotor(s). For vision/learning-supported quadrotor, simulators see the links listed below.
Go to the wiki for installation and usage instructions.
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Dynamics and Control for Collaborative Aerial Manipulation, Prasanth Kotaru, Ph.D. Dissertation, UC Berkeley, December 2022.
@phdthesis{kotaru2022dynamics, title={Dynamics and Control for Collaborative Aerial Manipulation}, author={Kotaru, Prasanth}, year={2022}, school={UC Berkeley} }
(c) Prasanth Kotaru