Dynamics, Control and Planning for Cooperative Manipulation of Payloads Suspended by Cables from Multiple Quadrotor Robots

@inproceedings{Sreenath2013DynamicsCA,
  title={Dynamics, Control and Planning for Cooperative Manipulation of Payloads Suspended by Cables from Multiple Quadrotor Robots},
  author={Koushil Sreenath and Vijay R. Kumar},
  booktitle={Robotics: Science and Systems},
  year={2013},
  url={https://api.semanticscholar.org/CorpusID:9105307}
}
A complete dynamic model for the problem of cooperative transportation of a cable-suspended payload by multiple quadrotors is developed and it is shown the resulting system is differentially flat when the cable tensions are strictly positive.
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