Towards a digital twin for cooperative load transportation involving multiple multirotor drones

By merging digital twin strategies with cooperative multirotor drone systems for load transportation, we are expanding the boundaries of autonomous logistics. This paper delves into the intricacies of modeling and controlling multiple drones in a collaborative setting, with the ultimate goal of developing digital twins that can facilitate comprehensive simulation, analysis, and optimization of drone operations. The paper introduces a well-known control strategy to demonstrate how n agents can transport a point mass load or a rigid body load, considering the center of mass of the load. The i-th agent is assumed to have knowledge of the states of neighboring j-th agents. Newton’s formalism with quaternion parameterization has been used to model the agents along with the load.