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

## TL;DR

This paper introduces an autonomous drone system for in-flight parcel delivery using a sensor-equipped gripper and a hybrid control framework.

## Contribution

The novel contribution is a hybrid MPC controller and a 3D-printed gripper for autonomous drone parcel handling.

## Key findings

- A hybrid MPC framework coordinates gripper and drone movements for package transfer.
- 3D-printed gripper prototypes and pose estimation systems were experimentally validated.
- Simulation and experiments demonstrated effective package acquisition, transport, and release.

## Abstract

This 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.