Transportation missions in aerospace are limited to the capability of each aerospace robot and the properties of the target transported object, such as mass, inertia, and grasping locations. We present a novel decentralized adaptive controller design for multiple robots that can be implemented in different kinds of aerospace robots. Our controller adapts to unknown objects in different gravity environments. We validate our method in an aerial scenario using multiple fully actuated hexarotors with grasping capabilities, and a space scenario using a group of space tugs. In both scenarios, the robots transport a payload cooperatively through desired three-dimensional trajectories. We show that our method can adapt to unexpected changes that include the loss of robots during the transportation mission.

翻译：航空航天运输任务受限于各航空航天机器人的能力以及目标运输物体的特性，如质量、惯性和抓取位置。本文提出了一种适用于多种航空航天机器人的新型分散自适应控制器设计。该控制器能够适应不同重力环境下的未知物体。我们通过两种场景验证了该方法：在航空场景中使用多个具备抓取能力的全驱动六旋翼飞行器，在空间场景中使用一组空间拖船。在这两种场景中，机器人通过期望的三维轨迹协同运输有效载荷。实验表明，该方法能够适应运输任务期间包括机器人损毁在内的突发变化。