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arXiv · 2412.12776

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

Jose Enrique Maese·Fernando Caballero·Luis Merino
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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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Jose Enrique Maese, Fernando Caballero, Luis Merino. 2024-12-17. Physical simulation of Marsupial UAV-UGV Systems Connected by a Variable-Length Hanging Tether. https://arxiv.org/abs/2412.12776

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