Optimum Configuration for Hovering n-Quadrotors carrying a Slung Payload

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}