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This paper investigates tracking controls for an arbitrary number ofcooperating quadrotor unmanned aerial vehicles with a suspended rigid bodypayload. Assuming that a rigid body is connected to multiple quadrotors byrigid massless links, control systems for quadrotors are constructed such thatthe rigid body asymptotically follows a given desired position and attitudetrajectory. These are developed in a coordinate-free fashion to avoidsingularities and complexities associated with local parameterizations.

Geometric Control of Multiple Quadrotor UAVs Transporting a Cable-Suspended Rigid Body