Geometric control of multiple quadrotors transporting a rigid-body load

We address the problem of cooperative transportation of a cable-suspended rigid-body payload by multiple quadrotors. We develop a coordinate-free dynamical model of the system by developing equations of motions directly on the unit sphere and the special orthogonal group. This model is used to design a geometric feedback control to track a reference trajectory for the load's pose (position and orientation), as well as the yaw angle of each quadrotor, and the orientation of each cable. Simulation results and formal proofs of the controller are presented to demonstrate the stability properties of the controller.