# Formation Planning for Tethered Multirotor UAV Cooperative Transportation With Unknown Payload and Cable Length

> Research article (IEEE Transactions on Automation Science and Engineering, 2023) · cited 46× · AI/ML

**Wikidata**: [openalex:W4379409270](https://www.wikidata.org/wiki/openalex:W4379409270)  
**Source**: https://4ort.xyz/entity/formation-planning-for-tethered-multirotor-uav-cooperative-transportation-with-unknown-payload-and-cable-length