Dynamics Modeling of a Multi-UAV Slung Load System Using a Discrete-Link Cable Approach

Abstract:A common assumption to simplify the problem of controlling a multi-UAV slung load system (MUSLS) is that the flexible cables can be modeled as massless rigid rods. In this work, we propose an alternative Euler-Newton derived dynamical model which uses a series of rigid links to model the flexible cables. The model is specifically designed to allow efficient simulation using Featherstone's articulated body algorithm. We perform real-world validation of this model on gentle, aggressive, and tension-engagement maneuvers and run a parameter sweep to determine the number of links, joint damping, and joint friction to achieve the greatest model fidelity. The model closely matches real-world flight data with mean load translation errors below 132 mm (5.5% of the cable length) and orientation errors below 11.4 degrees. We make the real-world flight data publicly available for the development of future cable models.

Robotics (cs.RO)

arXiv:2610.07456 [cs.RO]

(or arXiv:2610.07456v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.07456 arXiv-issued DOI via DataCite (pending registration)

Merton, Harvey, and Ian W. Hunter. "Dynamics Modeling of a Multi-UAV Slung Load System Using a Discrete-Link Cable Approach." 2026 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2026