{"paper":{"title":"CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.MA"],"primary_cat":"cs.RO","authors_text":"Khaled Wahba, Marc Toussaint, Sayantan Auddy, Viktor Lorentz, Wolfgang H\\\"onig","submitted_at":"2025-09-17T16:06:59Z","abstract_excerpt":"Collaborative transportation of cable-suspended payloads by teams of UAVs has the potential to enhance payload capacity, adapt to different payload shapes, and provide built-in compliance, making it attractive for applications ranging from disaster relief to precision logistics. However, multi-UAV coordination under disturbances, nonlinear payload dynamics, and slack-taut cable modes remains a challenging control problem. To our knowledge, no prior work has addressed these cable mode transitions in the multi-UAV context, instead relying on simplifying rigid-link assumptions. We propose CrazyMA"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.14126","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2509.14126/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}