Transportation of Payload Using Multiple Quadrotors via Rigid Connection

Table 1

System parameters.

Parameter	Value
Quadrotor mass	1.121 kg
Inertia matrix of each quadrotor	kg·m^2
Maximum payload capability of each quadrotor	0.3 kg
Payload mass	0.453 kg
Payload dimensions in , , and directions
Inertia matrix of payload	kg·m^2
Constant gravitational acceleration	9.81 m/s^2