Heterogeneous Collaborative Aerial Manipulation

<p>The video shows the final experiments for heterogeneous collaborative aerial manipulation using two hexacopters with different manipulation capabilities and system properties.</p> <p>An exponentially stable controller is used on each vehicle such that the system&nbsp;consistently converges to the required setpoints, both on a free and locked manipulator scenarios.&nbsp;</p> <p>Experiments show that the controller can effectively transport a load using two different agents, with two different manipulation capabilities, to perform the task and still be robust to external unmodeled disturbances.</p>