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This paper addresses the problem of cooperative transport of a point masshoisted by two aerial robots. Treating the robots as a leader and a follower,the follower stabilizes the system with respect to the leader using onlyfeedback from its Inertial Measurement Units (IMU). This is accomplished byneglecting the acceleration of the leader, analyzing the system through thegeneralized coordinates or the cables' angles, and employing an observationmodel based on the IMU measurements. A lightweight estimator based on anExtended Kalman Filter (EKF) and a controller are derived to stabilize therobot-payload-robot system. The proposed methods are verified with extensiveflight experiments, first with a single robot and then with two robots. Theresults show that the follower is capable of realizing the desired quasi-statictrajectory using only its IMU measurements. The outcomes demonstrate promisingprogress towards the goal of autonomous cooperative transport of a suspendedpayload via small flying robots with minimal sensing and computationalrequirements.

Towards Cooperative Transport of a Suspended Payload via Two Aerial Robots with Inertial Sensing