{'fraction_non_alphanumeric': 0.0098159509202454, 'fraction_numerical': 0.0, 'mean_word_length': 5.8, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Geometric control of cooperating multiple quadrotor UAVs with a suspended payload

This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended load. Assuming that a point mass is connected to multiple quadrotors by rigid massless links, control systems for quadrotors are constructed such that the point mass asymptotically follows a given desired trajectory and quadrotors maintain a prescribed formation, either relative to the point mass or with respect to the inertial frame. These are developed in a coordinate-free fashion to avoid singularities and complexities associated with local parameterizations. The desirable features are illustrated by several numerical examples, including a flying inverted spherical pendulum on a quadrotor.