Metraipolis › archive › dc_99776eebb173

Vision-Guided Morphing Quadcopter for Multi-Geometry Payload Transport through Narrow Passages — arXiv:2608.21879

Source: arXiv (en)
Original: https://arxiv.org/abs/2608.21879
License (as archived): CC0-1.0
Archived: 2026-10-18T09:01:49.751Z
SHA-256 of the archived text: fe150967e0fac8c423d411a96b4b7becc47757802ce7076aa1c5d0ba0f3876a3
Stable URL of this page: https://metraipolis.com/documento/dc_99776eebb173

How to cite

Vision-Guided Morphing Quadcopter for Multi-Geometry Payload Transport through Narrow Passages — arXiv:2608.21879 — arXiv (en), https://arxiv.org/abs/2608.21879 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_99776eebb173 (Metraipolis archive dc_99776eebb173, sha256 fe150967e0fac8c423d411a96b4b7becc47757802ce7076aa1c5d0ba0f3876a3)

BibTeX

@misc{dc99776eebb173,
  title = {Vision-Guided Morphing Quadcopter for Multi-Geometry Payload Transport through Narrow Passages — arXiv:2608.21879},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2608.21879},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_99776eebb173; sha256 fe150967e0fac8c423d411a96b4b7becc47757802ce7076aa1c5d0ba0f3876a3},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2608.21879. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Aerial payload transport using multirotor unmanned aerial vehicles is challenging because payload geometry, contact interaction, grasp stability, flight control, and narrow-passage traversal are strongly coupled during pickup and transport. Object-specific grippers often cannot adapt their footprint or grasp geometry when the payload shape or passage width changes. This paper presents a vision-guided morphing quadcopter for multi-geometry payload transport through narrow passages. The proposed platform uses four hybrid arm-leg structures that function as both landing supports and grasping members. A centrally placed actuator drives a tendon-based morphing mechanism, enabling all four arms to synchronously retract or expand for object grasping, footprint reduction, and post-transport release. Onboard vision estimates the payload geometry and passage width, while endpoint force feedback is used to confirm grasp contact during payload engagement. A phase-wise mission planner, PID-based flight stabilization, and morphology-adaptive grasp controller are implemented in a MuJoCo simulation environment. The framework is evaluated using box, cylindrical, and spherical payloads, representing flat-faced, rolling-curved, and fully curved contact conditions. Across the three cases, the simulated system completes the pickup-transport-release sequence with a maximum RMS position error of 0.31 m, a final drop-zone error below 0.18 m, a compact grasp footprint of 0.09-0.21 m2, and a footprint reduction of 75.0-89.7 percent. The results demonstrate that a single-actuator morphing quadcopter can adapt its grasp footprint for the transport of payloads with different geometries while reducing its overall footprint for narrow-passage traversal.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-08-25 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2608.21879 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-18T08:57:47.844Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-08-25?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).