Implementation of load transportation using multiple quadcopters

This paper studies a load transportation problem using two and three quadcopters for outdoor applications. We construct a transportation controller, that consists of a formation controller to track a desired trajectory and a load sharing controller to share the load effects, in a distributed way. Specifically, based on the displacement-based formation and consensus approaches, the formation and load sharing controllers are constructed using only local information, measured by own measurement units and received from neighbors. Experimental results show the validity and the effectiveness of the proposed controller.