Physical simulation of Marsupial UAV-UGV Systems Connected by a Variable-Length Hanging Tether

2024/12/17 by Maese, Jose Enrique, Caballero, Fernando, Merino, Luis · 1 citation
#FOS: Computer and information sciences #Robotics (cs.RO)

paper · doi:10.48550/arxiv.2412.12776

Abstract

This paper presents a simulation framework able of modeling the dynamics of a hanging tether with adjustable length, connecting a UAV to a UGV. The model incorporates the interaction between the UAV, UGV, and a winch, allowing for dynamic tether adjustments based on the relative motion of the robots. The accuracy and reliability of the simulator are assessed through extensive experiments, including comparisons with real-world experiment, to evaluate its ability to reproduce the complex tether dynamics observed in physical deployments. The results demonstrate that the simulation closely aligns with real-world behavior, particularly in constrained environments where tether effects are significant. This work provides a validated tool for studying tethered robotic systems, offering valuable insights into their motion dynamics and control strategies.

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• Long Duration Inspection of GNSS-Denied Environments with a Tethered UAV-UGV Marsupial System

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