# Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control

arXiv: https://arxiv.org/abs/1911.12650 · HTML: https://mlsanity.com/paper/1911.12650/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 28 Nov 2019.

## Built on by (most cited first, 1 of 1)

- [Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots](https://mlsanity.com/paper/2206.14424/) (2022)

## Abstract (arXiv)

Using quadrotors UAVs for cooperative payload transportation using cables has been actively gaining interest in recent years. Understanding the dynamics of these complex multi-agent systems would help towards designing safe and reliable systems. In this work, we study one such multi-agent system comprising of multiple quadrotors transporting a flexible hose. We model the hose as a series of smaller discrete links and derive a generalized coordinate-free dynamics for the same. We show that certain configurations of this under-actuated system are differentially-flat. We linearize the dynamics using variation-based linearization and present a linear time-varying LQR to track desired trajectories. Finally, we present numerical simulations to validate the dynamics, flatness, and control.