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Using quadrotors UAVs for cooperative payload transportation using cables hasbeen actively gaining interest in recent years. Understanding the dynamics ofthese complex multi-agent systems would help towards designing safe andreliable systems. In this work, we study one such multi-agent system comprisingof multiple quadrotors transporting a flexible hose. We model the hose as aseries of smaller discrete links and derive a generalized coordinate-freedynamics for the same. We show that certain configurations of thisunder-actuated system are differentially-flat. We linearize the dynamics usingvariation-based linearization and present a linear time-varying LQR to trackdesired trajectories. Finally, we present numerical simulations to validate thedynamics, flatness, and control.

Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control