This paper addresses the problem of cooperative manipulation and transportation of large and/or heavy unknown objects via a team of aerial robots. In particular, the chosen aerial platform is an omnidirectional quadrotor, which, by exploiting two additional actuators, has the capability to produce an omnidirectional total thrust by changing the orientation of the plane of the rotors. Since it is assumed that the object geometry and dynamic parameters are not known, the devised strategy includes a first stage in which the robots cooperatively estimate the object parameters and a second stage in which such parameters are adopted in an impedance control, aimed at limiting both the contact wrenches, due to the object/environment interaction, and the internal wrenches, due to the robot/object interaction. More in detail, two admittance filters are designed to determine the reference trajectory for the object (external impedance) and for the aerial vehicles (internal impedance). Finally, a simulation case study is developed to provide further insights on the proposed approach.

本文讨论了通过一个空中机器人团队对大型和/或重型未知物体进行协同操纵和运输的问题。特别是，所选的高空作业平台是全向四旋翼飞行器，通过使用两个附加的执行器，它能够通过改变旋翼平面的方向来产生全向总推力。由于假定对象的几何形状和动态参数未知，因此设计的策略包括第一阶段和第二阶段，在第一阶段中，机器人协同估计目标参数，第二阶段中，这些参数被用于阻抗控制，以限制两者由于对象/环境的相互作用，接触扳手，以及由于机器人/对象的相互作用，内部扳手。更详细地讲 设计了两个导纳滤波器，以确定物体（外部阻抗）和飞行器（内部阻抗）的参考轨迹。最后，开发了一个仿真案例研究，以对所提出的方法提供进一步的见解。