Cooperative Drone Delivery via Push-based Lift with Payload Stabilization

Advancements in robotics have led to innovative approaches that employ quadcopters for carrying loads. In this paper, we introduce a unique system: a cooperative aerial robot delivery system employing a push-based method to transport payloads. This system includes a self-stabilizing tray with dual resistive sensor panels and a highly responsive 3-degree end-effector servo control designed to counteract payload instability. In our experiments, two Unmanned Aerial Vehicles (UAVs) successfully transported three distinct payload types, varying in size, mainly under indoor conditions. The Self Balancing Tray's (SBT) servo angles demonstrated reliable precision, with deviations reaching 1.6% from the average, enabling a rapid transport speed of up to 4 meters per second. Such accuracy is vital for safely moving delicate payloads. During flight, the system adeptly adjusted the payload's position, requiring merely 2.4 seconds for re-stabilization. Furthermore, the 3-degree end-effector (3-DEE) significantly minimized vibrations, enhancing the system's stability. These findings demonstrate the feasibility of push-based lift for cooperative drone payload transport systems.