Quasi-static 6D Manipulation of a Cable-Suspended Load using Three Non-stopping Aerial Vehicles

The folder contains an init.m file to be run in MATLAB and a Simulink simulator generated with MATLAB version R2021b. The software simulated three aerial vehicles suspending a rigid payload through elastic cables. They follow coordinated non-stopping trajectories planned to ensure that the pose of a cable-suspended object is not perturbed by their non-stopping motions. The software is linked to the following reference:

@INPROCEEDINGS{10556930,
  author={Gabellieri, Chiara and Franchi, Antonio},
  booktitle={2024 International Conference on Unmanned Aircraft Systems (ICUAS)}, 
  title={On the Existence of Static Equilibria of a Cable-Suspended Load with Non-stopping Flying Carriers}, 
  year={2024},
  volume={},
  number={},
  pages={638-644},
  keywords={Task analysis;Aircraft;Gravity},
  doi={10.1109/ICUAS60882.2024.10556930}}