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This paper shows a strategy based on passive force control for collaborativeobject transportation using Micro Aerial Vehicles (MAVs), focusing on thetransportation of a bulky object by two hexacopters. The goal is to develop arobust approach which does not rely on: (a) communication links between theMAVs, (b) the knowledge of the payload shape and (c) the position of graspingpoint. The proposed approach is based on the master-slave paradigm, in whichthe slave agent guarantees compliance to the external force applied by themaster to the payload via an admittance controller. The external force actingon the slave is estimated using a non-linear estimator based on the UnscentedKalman Filter (UKF) from the information provided by a visual inertialnavigation system. Experimental results demonstrate the performance of theforce estimator and show the collaborative transportation of a 1.2 m longobject.

Collaborative Object Transportation Using MAVs via Passive Force Control