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Trajectory control of a suspended load with non-stopping flying carriers
Sofia Girardello, Giulia Michieletto, Angelo Cenedese, Antonio Franchi, Chiara Gabellieri
https://arxiv.org/abs/2510.11413

Trajectory control of a suspended load with non-stopping flying carriers
This paper presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. Building upon grasp-matrix formulations and internal force redundancy, we propose a feedback wrench controller that actively regulates the payload's pose while an optimization layer dynamically shapes internal-force oscillations to guarantee persistent carrier motion. Preliminary experimental results on multirotor UAVs validate the model assumptions, and numerica…

Resource Allocation in Cooperative Mid-band/THz Networks in the Presence of Mobility
Mohammad Amin Saeidi, Hina Tabassum
https://arxiv.org/abs/2509.23065 https://

Resource Allocation in Cooperative Mid-band/THz Networks in the Presence of Mobility
This paper develops a comprehensive framework to investigate and optimize the downlink performance of cooperative multi-band networks (MBNs) operating on upper mid-band (UMB) and terahertz (THz) frequencies, where base stations (BSs) in each band cooperatively serve users. The framework captures sophisticated features such as near-field channel modeling, fully and partially connected antenna architectures, and users' mobility. First, we consider joint user association and hybrid beamforming opt…