Decentralized Geometric Control for Cable-Suspended Payload Transport with Adaptive Mass Estimation

arXiv:2607.00024v1 Announce Type: new Abstract: Cooperative aerial transport requires controllers that respect nonlinear manifold geometry, operate without centralized coordination, and respect operational safety constraints. To address these demands, we present GPAC, a four-layer hierarchical architecture that enables $N$ quadrotors to transport a cable-suspended payload without a central coordinator or by exchanging cable states or adaptive parameters. The key insight is implicit coordination:...