{"id":"https://openalex.org/W7140208254","doi":"https://doi.org/10.1109/tro.2026.3677010","title":"Safe and Agile Transportation of Cable-Suspended Payload via Multiple Aerial Robots","display_name":"Safe and Agile Transportation of Cable-Suspended Payload via Multiple Aerial Robots","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7140208254","doi":"https://doi.org/10.1109/tro.2026.3677010"},"language":null,"primary_location":{"id":"doi:10.1109/tro.2026.3677010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3677010","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Yongchao Wang","orcid":"https://orcid.org/0009-0000-5156-2765"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yongchao Wang","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0000-5156-2765","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Junjie Wang","orcid":"https://orcid.org/0009-0004-5886-4079"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjie Wang","raw_affiliation_strings":["Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0004-5886-4079","affiliations":[{"raw_affiliation_string":"Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiaobin Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Xiaobin Zhou","raw_affiliation_strings":["Differential Robotics Technology Company, Hangzhou, China","School of Robotics and Automation, Nanjing University, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Differential Robotics Technology Company, Hangzhou, China","institution_ids":["https://openalex.org/I4210144102"]},{"raw_affiliation_string":"School of Robotics and Automation, Nanjing University, Suzhou, China","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tiankai Yang","orcid":"https://orcid.org/0000-0001-8203-085X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tiankai Yang","raw_affiliation_strings":["Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-8203-085X","affiliations":[{"raw_affiliation_string":"Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xin Zhou","orcid":"https://orcid.org/0000-0001-5484-205X"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Xin Zhou","raw_affiliation_strings":["Differential Robotics Technology Company, Hangzhou, China","School of Robotics and Automation, Nanjing University, Suzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5484-205X","affiliations":[{"raw_affiliation_string":"Differential Robotics Technology Company, Hangzhou, China","institution_ids":["https://openalex.org/I4210144102"]},{"raw_affiliation_string":"School of Robotics and Automation, Nanjing University, Suzhou, China","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chao Xu","orcid":"https://orcid.org/0000-0002-2759-6364"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Xu","raw_affiliation_strings":["Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2759-6364","affiliations":[{"raw_affiliation_string":"Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":null,"display_name":"Fei Gao","orcid":"https://orcid.org/0000-0002-6513-374X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Gao","raw_affiliation_strings":["Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-6513-374X","affiliations":[{"raw_affiliation_string":"Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.6458794,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"42","issue":null,"first_page":"1804","last_page":"1823"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.20069999992847443,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.20069999992847443,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.1899999976158142,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.13169999420642853,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.7397000193595886},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6061999797821045},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5996999740600586},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.592199981212616},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.5562999844551086},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4846999943256378},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.46299999952316284},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4404999911785126}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7397000193595886},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6061999797821045},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5996999740600586},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.592199981212616},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.5562999844551086},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.501800000667572},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4846999943256378},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.46299999952316284},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4404999911785126},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4140999913215637},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4068000018596649},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.392300009727478},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.38589999079704285},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.37049999833106995},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.29820001125335693},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2953999936580658},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.28529998660087585},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2800000011920929},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.2754000127315521},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.27000001072883606},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.26100000739097595},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2026.3677010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3677010","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5980066766","display_name":null,"funder_award_id":"62403419","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7907494288","display_name":null,"funder_award_id":"62303412","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Transporting":[0],"a":[1,19,41,65,80,134,173],"heavy":[2],"payload":[3,82,159,188],"using":[4],"multiple":[5,29],"aerial":[6,21,30,76,97,110,224],"robots":[7,31,225],"(MARs)":[8],"is":[9,114,140,184],"an":[10],"efficient":[11],"manner":[12],"to":[13,39,53,178],"extend":[14],"the":[15,28,37,61,70,89,96,100,105,118,121,124,143,150,153,158,165,169,180,234,243],"load":[16],"capacity":[17],"of":[18,79,95,123,223,238],"single":[20],"robot.":[22],"However,":[23],"existing":[24],"planning":[25,67,138],"schemes":[26,200,241],"for":[27,69,88,120,142,156,168,242],"transportation":[32,55,77],"system":[33],"(MARTS)":[34],"still":[35],"lack":[36],"capability":[38],"generate":[40],"collision-free":[42],"and":[43,74,104,112,128,160,171,195,209,229,236],"dynamically":[44,126],"feasible":[45],"trajectory":[46,130,137,182],"in":[47,56,83,131,245],"real-time.":[48],"Therefore,":[49],"they":[50],"are":[51,201,215],"limited":[52],"low-agility":[54],"simple":[57],"environments.":[58,85,247],"To":[59,116],"bridge":[60],"gap,":[62],"we":[63,146],"propose":[64],"complete":[66,101],"scheme":[68,139,177],"MARTS,":[71],"achieving":[72],"safe":[73],"agile":[75,129,181],"(SAAT)":[78],"cable-suspended":[81],"complex":[84,132,246],"Flatness":[86],"map":[87],"motor's":[90],"revolutions":[91],"per":[92],"minute":[93],"(RPM)":[94],"robot,":[98],"considering":[99],"kinematic":[102],"constraint":[103],"dynamical":[106],"coupling":[107],"between":[108],"each":[109],"robot":[111],"payload,":[113,170,192],"derived.":[115],"improve":[117],"responsiveness":[119],"generation":[122],"safe,":[125],"feasible,":[127],"environments,":[133],"real-time":[135],"spatio-temporal":[136],"proposed":[141,199,240],"MARTS.":[144],"Besides,":[145],"break":[147],"away":[148],"from":[149],"reliance":[151],"on":[152,217],"state":[154],"measurement":[155],"both":[157],"cable,":[161],"as":[162,164],"well":[163],"closed-loop":[166],"control":[167,176],"integrate":[172],"fully":[174],"distributed":[175],"track":[179],"that":[183],"robust":[185],"against":[186],"imprecise":[187],"mass,":[189],"non-point":[190],"mass":[191],"wind":[193],"disturbances,":[194],"communication":[196],"delays.":[197],"The":[198,231],"extensively":[202],"validated":[203],"through":[204],"benchmark":[205],"comparisons,":[206],"ablation":[207],"studies,":[208],"simulations.":[210],"Finally,":[211],"extensive":[212],"real-world":[213],"experiments":[214],"conducted":[216],"practical":[218],"MARTSs":[219],"containing":[220],"different":[221],"numbers":[222],"with":[226],"onboard":[227],"computers":[228],"sensors.":[230],"result":[232],"validates":[233],"efficiency":[235],"robustness":[237],"our":[239],"SAAT":[244]},"counts_by_year":[],"updated_date":"2026-04-25T06:01:18.069262","created_date":"2026-03-25T00:00:00"}