[2605.07003] AirBender: Adaptive Transportation of Bendable Objects Using Dual UAVs
[Submitted on 7 May 2026]
Title:AirBender: Adaptive Transportation of Bendable Objects Using Dual UAVs
View a PDF of the paper titled AirBender: Adaptive Transportation of Bendable Objects Using Dual UAVs, by Jiawei Xu and 3 other authors
View PDF HTML (experimental)
Abstract:The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities and constant need to remain airborne. This paper presents an adaptive controller that enables two aerial vehicles to collaboratively follow a trajectory while transporting a bendable object without relying on explicit elasticity models. Our method allows on-the-fly adaptation to the object's unknown deformable properties, ensuring stability and performance in trajectory-tracking tasks. We use Lyapunov analysis to demonstrate that our adaptive controller is asymptotically stable. Our method is evaluated through hardware experiments in various scenarios, demonstrating the capabilities of using multirotor aerial vehicles to handle bendable objects.
Subjects:
Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2605.07003 [cs.RO]
(or arXiv:2605.07003v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2605.07003
arXiv-issued DOI via DataCite (pending registration)
Related DOI:
https://doi.org/10.1109/LRA.2025.3536276
DOI(s) linking to related resources
Submission history
From: Jiawei Xu [view email] [v1] Thu, 7 May 2026 22:36:03 UTC (5,974 KB)
Full-text links:
Access Paper:
View a PDF of the paper titled AirBender: Adaptive Transportation of Bendable Objects Using Dual UAVs, by Jiawei Xu and 3 other authors
View PDF
HTML (experimental)
TeX Source
view license
Current browse context:
cs.RO
new | recent | 2026-05
Change to browse by:
cs cs.SY eess eess.SY
References & Citations
NASA ADS
Google Scholar
Semantic Scholar
Loading...
Data provided by:
Bibliographic Tools
Bibliographic and Citation Tools
Bibliographic Explorer Toggle
Bibliographic Explorer (What is the Explorer?)
Connected Papers Toggle
Connected Papers (What is Connected Papers?)
Litmaps Toggle
Litmaps (What is Litmaps?)
scite.ai Toggle
scite Smart Citations (What are Smart Citations?)
Code, Data, Media
Code, Data and Media Associated with this Article
alphaXiv Toggle
alphaXiv (What is alphaXiv?)
Links to Code Toggle
CatalyzeX Code Finder for Papers (What is CatalyzeX?)
DagsHub Toggle
DagsHub (What is DagsHub?)
GotitPub Toggle
Gotit.pub (What is GotitPub?)
Huggingface Toggle
Hugging Face (What is Huggingface?)
ScienceCast Toggle
ScienceCast (What is ScienceCast?)
Demos
Demos
Replicate Toggle
Replicate (What is Replicate?)
Spaces Toggle
Hugging Face Spaces (What is Spaces?)
Spaces Toggle
TXYZ.AI (What is TXYZ.AI?)
Related Papers
Recommenders and Search Tools
Link to Influence Flower
Influence Flower (What are Influence Flowers?)
Core recommender toggle
CORE Recommender (What is CORE?)
Author
Venue
Institution
Topic
About arXivLabs
arXivLabs: experimental projects with community collaborators
arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.
Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.
Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.
Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)