Rajeev Voleti
Sessions
We aim to manipulate a payload along a specific trajectory using two quadrotors in simulation. The system features quadrotors connected via cables to a payload modeled with Multibody.jl. Polynomial trajectory synthesis is performed with DyadControlSystems.jl, and custom geometric controllers on each quadrotor collaboratively guide the payload using AerialVehicles.jl. This approach ensures precise trajectory tracking and effective cooperative aerial payload manipulation.
We demonstrate how recent compiler developments allow users of Julia and the equation-based modeling language ModelingToolkit to compile and deploy binaries for real-time model-based estimation and control. Contrary to the approach taken by a majority of modeling-and simulation tools, we do not generate C code, and instead demonstrate how we may use the native Julia code-generation pipeline.