多旋翼吊挂负载悬停时，通过几何设计实现质心对齐，确保稳定悬停。
Optimum Configuration for Hovering n-Quadrotors carrying a Slung Payload
- 基于几何对齐原理，使负载与系统质心重合，无需外部控制。
- 数值实验表明，大旋翼需更少数量，小旋翼则灵活性更高。
- 提供开源仿真工具，适合无人机集群与负载协同研究者使用。
本文提出一种多旋翼编队策略，使悬挂在负载上的n个四旋翼在无外部干扰下实现稳定悬停，并开发了用于建模四旋翼-负载系统动力学的MATLAB软件。该设计基于几何概念，确保负载与系统质心对齐，成功悬停测试验证了方法的有效性。算法进一步优化，综合考虑推力能力和螺旋桨间距，计算出维持悬停所需的最少旋翼数量。数值示例显示，大型旋翼所需数量较少，小型旋翼则提供更大配置灵活性。代码已公开于：https://github.com/Hosnooo/Swarm-Slung-Payload。
原文摘要 · Abstract (English)
This work proposes a strategy for organising quadrotors around a payload to enable hovering without external stimuli, together with a MATLAB software for modelling the dynamics of a quadrotor-payload system. Based on geometric concepts, the proposed design keeps the payload and system centre of mass aligned. Hovering tests that are successful confirm the method's efficiency. Moreover, the algorithm is improved to take thrust capacities and propeller distances into account, calculating the minimum number of quadrotors needed for hovering. The algorithm's effectiveness is demonstrated by numerical examples, which reveal that larger quadrotors may require fewer units while smaller ones give greater flexibility. Our code can be found at: \href{https://github.com/Hosnooo/Swarm-Slung-Payload}{https://github.com/Hosnooo/Swarm-Slung-Payload}
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