@inbook{a74d02b350d14c429d1bcc67ca46f011,
title = "In-Air Exchange of Small Payloads Between Multirotor Aerial Systems",
abstract = "Exchanging payloads between multiple vehicles is a challenging problem that finds applications in sustained monitoring and long-range payload transportation. In this paper, we take the problem one step further and explore the design and implementation of a system of aerial vehicles that can exchange a small cargo/payload while air-borne. The proposed approach exploits the hover-capabilities of multirotor vehicles, and works within the constraints and the challenges imposed by such a task (such as proximity and contact forces). It is also portable to a wide range of vehicles, and does not require custom flight maneuvers in order to be viable. A simulation framework is utilized to highlight the key challenges addressed by the system. We present detailed results from experiments conducted outdoors that demonstrate two vehicles exchanging a small 60 g payload unit between them.",
author = "Ajay Shankar and Sebastian Elbaum and Carrick Detweiler",
note = "Publisher Copyright: {\textcopyright} 2020, Springer Nature Switzerland AG.",
year = "2020",
doi = "10.1007/978-3-030-33950-0_44",
language = "English (US)",
series = "Springer Proceedings in Advanced Robotics",
publisher = "Springer Science and Business Media B.V.",
pages = "511--523",
booktitle = "Springer Proceedings in Advanced Robotics",
}