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Agile multi-UAV payload lifting systems can now achieve balanced cable tensions even with redundant force allocation and tracking errors, thanks to a novel hybrid planning-control approach.
The results demonstrate that robust simultaneous five-DoF end-effector pose and contact-force tracking is achievable on a standard underactuated quadrotor with a simple, rigid, single-link arm, without requiring a fully actuated platform, a complex arm, or dedicated force/torque sensing.
Maintaining the mechanical integrity of robotic models while adapting to dynamic changes can drastically enhance control accuracy and reliability.
