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This work was supported by the Discovery Grant from the Natural Sciences and Engineering Research Council of Canada (NSERC).All authors are with the Department of Earth and Space Science and Engineering, York University, Toronto, ON M3J 1P3, Canada (email: srrezaei, kjj, amaldev, jjshan@yorku.ca.) (Corresponding author: Jinjun Shan.)
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Achieve formally guaranteed safe and stable slung-load UAV flight in cluttered environments by unifying passivity-based control with high-order control barrier functions within an MPC framework.