GPAC is a decentralized geometric controller with adaptive mass estimation and safety filters that lets N quadrotors transport a cable-suspended payload via local cable-based implicit coordination without central commands or full system knowledge.
Auto-multilift: Distributed learning and control for cooperative load transportation with quadrotors,
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Decentralized Geometric Control for Cable-Suspended Payload Transport with Adaptive Mass Estimation
GPAC is a decentralized geometric controller with adaptive mass estimation and safety filters that lets N quadrotors transport a cable-suspended payload via local cable-based implicit coordination without central commands or full system knowledge.