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Automatic Grasping System and Hybrid Controller Towards Multi-Drone Parcel Delivery

2026-01Artigo científico Acesso aberto
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dc.contributor.authorGuerreiro, Bruno J.
dc.contributor.authorAzevedo, Francisco
dc.contributor.authorOliveira, Paulo
dc.contributor.authorCunha, Rita
dc.contributor.institutionDEE - Departamento de Engenharia Electrotécnica e de Computadores
dc.contributor.institutionCTS - Centro de Tecnologia e Sistemas
dc.contributor.institutionFaculdade de Ciências e Tecnologia (FCT)
dc.contributor.pblMDPI - Multidisciplinary Digital Publishing Institute
dc.date.accessioned2026-04-16T10:32:01Z
dc.date.available2026-04-16T10:32:01Z
dc.date.issued2026-01
dc.descriptionPublisher Copyright: © 2026 by the authors. Licensee MDPI, Basel, Switzerland.
dc.description.abstractThis paper presents the development of an autonomous grasping mechanism for drone-based parcel delivery systems towards developing capabilities for in-flight package transfer. The approach integrates a mechanical gripper fitted with sensors and a pose estimation method for parcels, all coordinated through a hybrid Model Predictive Control (MPC) architecture. The gripper’s mechanical structure and prototype are developed using 3D printing technology for both the main framework and gear components. A hybrid dynamical model is formulated that integrates the gripper mechanics with simplified drone dynamics, capturing distinct operational phases including package acquisition, transport, and release. The hybrid MPC framework computes reference trajectories for both the gripper arm configuration and the drone’s spatial path toward designated target positions. Experimental validation is conducted using the operational gripper prototype and pose estimation system, while drone behavior is represented through simulation.en
dc.description.versionpublishersversion
dc.description.versionpublished
dc.format.extent8099838
dc.identifier.doi10.3390/s26020653
dc.identifier.issn1424-8220
dc.identifier.otherPURE: 160607567
dc.identifier.otherPURE UUID: efcd8743-4ce9-4246-a4f0-5b92ba08d79d
dc.identifier.otherScopus: 105028806298
dc.identifier.otherPubMed: 41600450
dc.identifier.otherWOS: 001671580900001
dc.identifier.otherORCID: /0000-0002-4511-5114/work/211974551
dc.identifier.urihttp://hdl.handle.net/10362/202279
dc.identifier.urlhttps://www.scopus.com/pages/publications/105028806298
dc.language.isoeng
dc.peerreviewedyes
dc.subject3D printing
dc.subjectdrone delivery
dc.subjectgripper
dc.subjecthybrid MPC
dc.subjectpose estimation
dc.subjectAnalytical Chemistry
dc.subjectInformation Systems
dc.subjectAtomic and Molecular Physics, and Optics
dc.subjectBiochemistry
dc.subjectInstrumentation
dc.subjectElectrical and Electronic Engineering
dc.titleAutomatic Grasping System and Hybrid Controller Towards Multi-Drone Parcel Deliveryen
dc.typejournal article
degois.publication.issue2
degois.publication.titleSensors
degois.publication.volume26
dspace.entity.typePublication
rcaap.rightsopenAccess

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