The paper demonstrates a tethered, propeller-actuated end droid that can descend through cluttered spaces and pick up a payload while a catenary-based planner keeps the cable length within safe bounds.
Lightweight and compliant long reach aerial manipulator for inspection operations,
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A Cooperative Aerial System of A Payload Drone Equipped with Dexterous Rappelling End Droid for Cluttered Space Pickup
The paper demonstrates a tethered, propeller-actuated end droid that can descend through cluttered spaces and pick up a payload while a catenary-based planner keeps the cable length within safe bounds.