AFD-CAMLs: Agile Force-Distribution-Aware Planning and Control for Cable-Suspended Aerial Multi-Lifting Systems
The framework uses a hybrid planning-and-control approach to manage heavy payloads lifted by multiple UAVs via cables. It solves uneven force distribution problems by first generating feasible cable force references using null-space optimization and then regulating the actual forces with an admittance filter, ensuring balanced tension across all cables.