2022/12/23 by Ruoyu Xu, Chongfeng Liu, Xu, Ruoyu +7 · 1 citation
Computer Science · Engineering · #FOS: Computer and information sciences #Maritime Navigation and Safety #Robotic Path Planning Algorithms #Robotics (cs.RO) #Underwater Vehicles and Communication Systems
paper · pdf · doi:10.48550/arxiv.2212.12196
openalex publication_date 2022/12/23 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Marine waves significantly disturb the unmanned surface vehicle (USV) motion. An unmanned aerial vehicle (UAV) can hardly land on a USV that undergoes irregular motion. An oversized landing platform is usually necessary to guarantee the landing safety, which limits the number of UAVs that can be carried. We propose a landing system assisted by tether and robot manipulation. The system can land multiple UAVs without increasing the USV's size. An MPC controller stabilizes the end-effector and tracks the UAVs, and an adaptive estimator addresses the disturbance caused by the base motion. The working strategy of the system is designed to plan the motion of each device. We have validated the manipulator controller through simulations and well-controlled indoor experiments. During the field tests, the proposed system caught and placed the UAVs when the disturbed USV roll range was approximately 12 degrees.