Paper Citation Record · LEDGER

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads

As of 20 August 2026, this Paper Citation Record lists 36 of 36 outbound references and 1 inbound Pith citation observation for arXiv:2509.14126.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2509.14126 v2

Coverage vector

measured 36 of 36 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-15T15:56:34.905372Z

measured 37 of 37 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-20T06:33:59.587034+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-06-27T18:39:51.994350Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: pith, observed 2026-07-02T22:47:25.789341Z

Reference resolution

36 of 36 outbound references displayed

verified exact3
verified fuzzy19
unresolved14
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 84268127-aeae-48fb-8732-7a7fab1d5051 · outbound

This paper cites A review of quadrotor unmanned aerial vehicles: applications, architectural design and control algorithms,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads A review of quadrotor unmanned aerial vehicles: applications, architectural design and control algorithms,

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.643616Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 0ed710cb-bc94-4eef-a22e-f257df010995 · outbound

This paper cites Unmanned aerial vehicles for search and rescue: A survey,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Unmanned aerial vehicles for search and rescue: A survey,

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-15T15:56:34.759815Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2bc175fb-77ac-48f3-aa18-a361adba80ae · outbound

This paper cites Decentralized control of quadrotor swarms with end-to- end deep reinforcement learning,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Decentralized control of quadrotor swarms with end-to- end deep reinforcement learning,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.621255Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 51bc3548-0155-4977-9852-619e5fc7af89 · outbound

This paper cites Review of aerial transportation of suspended-cable payloads with quadrotors.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Review of aerial transportation of suspended-cable payloads with quadrotors

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.606222Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation c3e7c602-dce5-4560-9517-45b21cbc0af6 · outbound

This paper cites Champion-level drone racing using deep reinforcement learning,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Champion-level drone racing using deep reinforcement learning,

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-15T15:56:34.773411Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 50c5b72e-646f-4f5e-b848-7d7733e73489 · outbound

This paper cites Learning to fly in seconds,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Learning to fly in seconds,

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-15T15:56:34.777853Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation bf5b7955-ca03-4c7f-aa3a-e3114518b704 · outbound

This paper cites Kinodynamic motion planning for a team of multirotors transporting a cable- suspended payload in cluttered environments,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Kinodynamic motion planning for a team of multirotors transporting a cable- suspended payload in cluttered environments,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.573182Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation b8805da3-8aaa-4990-bbc0-77197de21c48 · outbound

This paper cites Collision avoidance and navigation for a quadrotor swarm using end-to-end deep reinforcement learning,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Collision avoidance and navigation for a quadrotor swarm using end-to-end deep reinforcement learning,

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.559362Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 28625df2-3729-4b4c-a29c-3c985b3013d8 · outbound

This paper cites Dynamics, control and planning for cooperative manipulation of payloads suspended by cables from multiple quadrotor robots,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Dynamics, control and planning for cooperative manipulation of payloads suspended by cables from multiple quadrotor robots,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.543998Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation eb69f81c-26b1-493b-88d3-cefd312a88b2 · outbound

This paper cites Aerial co- manipulation with cables: The role of internal force for equilibria, stability, and passivity,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Aerial co- manipulation with cables: The role of internal force for equilibria, stability, and passivity,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.530504Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 0b2dfc94-5695-4746-a289-0e509c682ecd · outbound

This paper cites Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load using Multiple UAVs.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load using Multiple UAVs

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-15T15:56:34.799188Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 11b2835c-8edf-438d-bca9-32ca480450ab · outbound

This paper cites Distributed nmpc for cooperative aerial manipulation of cable-suspended loads,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Distributed nmpc for cooperative aerial manipulation of cable-suspended loads,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.517060Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation aeb0e6bc-db03-4bce-8380-05d96026cfad · outbound

This paper cites pc-dbCBS: Kinodynamic Motion Planning of Physically-Coupled Robot Teams.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads pc-dbCBS: Kinodynamic Motion Planning of Physically-Coupled Robot Teams

Reference 13

Resolution: verified exact; local_arxiv, observed 2026-08-15T15:56:35.303180Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation e1f03f8f-4c75-45b6-9f76-f342d283b6f3 · outbound

This paper cites Safe and Agile Transportation of Cable-Suspended Payload via Multiple Aerial Robots.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Safe and Agile Transportation of Cable-Suspended Payload via Multiple Aerial Robots

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-15T15:56:34.812705Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a35bb40e-1215-422f-89ed-4fc173de444e · outbound

This paper cites Agile and cooperative aerial manipulation of a cable-suspended load,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Agile and cooperative aerial manipulation of a cable-suspended load,

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-15T15:56:34.817170Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 99c7744e-e363-4378-8d00-eb276fb89547 · outbound

This paper cites Impact-aware planning and control for aerial robots with suspended payloads,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Impact-aware planning and control for aerial robots with suspended payloads,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.502706Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 657d23c8-83a3-408a-962f-32ad5d1eaa8a · outbound

This paper cites Es-hpc-mpc: Exponentially stable hybrid perception constrained mpc for quadrotor with suspended payloads,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Es-hpc-mpc: Exponentially stable hybrid perception constrained mpc for quadrotor with suspended payloads,

Reference 17

Resolution: verified exact; raw_fallback, observed 2026-08-15T15:56:35.193553Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation f0c0f1b2-12c5-4701-a816-0b83546e41c9 · outbound

This paper cites Reinforcement learning for uav attitude control,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Reinforcement learning for uav attitude control,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.488852Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 762f8d6d-3517-48d3-970e-71129d6ebbea · outbound

This paper cites Reaching the limit in autonomous racing: Optimal control versus reinforcement learning,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Reaching the limit in autonomous racing: Optimal control versus reinforcement learning,

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-15T15:56:34.833776Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 09ef9d19-be50-43ae-810c-76b3bd12d21b · outbound

This paper cites Multi-task reinforcement learning for quadrotors,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Multi-task reinforcement learning for quadrotors,

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.466803Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 722e07ce-1af0-41b5-9044-ebea0bc96c1a · outbound

This paper cites A new nonlinear control strat- egy embedded with reinforcement learning for a multirotor transporting a suspended payload,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads A new nonlinear control strat- egy embedded with reinforcement learning for a multirotor transporting a suspended payload,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.453336Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation f614e6df-a1cd-4bff-a2da-6bbe38fca673 · outbound

This paper cites Flare: Agile flights for quadrotor cable-suspended payload system via reinforcement learning,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Flare: Agile flights for quadrotor cable-suspended payload system via reinforcement learning,

Reference 22

Resolution: verified exact; raw_fallback, observed 2026-08-15T15:56:35.130400Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation cde062f7-4f38-44dc-91e9-4a62fc6464af · outbound

This paper cites Multi-agent actor-critic for mixed cooperative-competitive environments,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Multi-agent actor-critic for mixed cooperative-competitive environments,

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-15T15:56:34.850774Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 677b1bf0-ebda-49a9-af38-ea02924b262d · outbound

This paper cites The surprising effectiveness of ppo in cooperative multi-agent games,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads The surprising effectiveness of ppo in cooperative multi-agent games,

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-15T15:56:34.854747Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 33647556-ff32-4527-813d-2f7d0003a9c6 · outbound

This paper cites Is Independent Learning All You Need in the StarCraft Multi-Agent Challenge?.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Is Independent Learning All You Need in the StarCraft Multi-Agent Challenge?

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-15T15:56:34.858941Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b90b58f5-0a11-48c0-af2f-4b2709f19905 · outbound

This paper cites Learning Decentralized Multi-Biped Control for Payload Transport.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Learning Decentralized Multi-Biped Control for Payload Transport

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-15T15:56:34.863169Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1c39e3cf-6be5-4ae8-bad8-6512fbefdf52 · outbound

This paper cites Decentralized Navigation of a Cable-Towed Load using Quadrupedal Robot Team via MARL.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Decentralized Navigation of a Cable-Towed Load using Quadrupedal Robot Team via MARL

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-15T15:56:34.867676Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4c481aea-ac77-4914-acb7-d344ca561cae · outbound

This paper cites Deep reinforcement learning-driven collaborative rounding-up for multiple unmanned aerial vehicles in obstacle environments,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Deep reinforcement learning-driven collaborative rounding-up for multiple unmanned aerial vehicles in obstacle environments,

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.422031Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation ecc98e03-ed3c-4fee-9689-811b48e1a079 · outbound

This paper cites Payload transporting with two quadrotors by centralized reinforcement learning method,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Payload transporting with two quadrotors by centralized reinforcement learning method,

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.408387Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 521d3c2c-daac-4f72-a3e1-25690a01ad38 · outbound

This paper cites Reinforcement learning based trajectory planning for multi-uav load transportation,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Reinforcement learning based trajectory planning for multi-uav load transportation,

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.394563Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 6982989e-b174-4b62-a5c3-ee0db61fc015 · outbound

This paper cites Omnidrones: An efficient and flexible platform for reinforcement learning in drone control,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Omnidrones: An efficient and flexible platform for reinforcement learning in drone control,

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.381237Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation a21f431a-297e-4943-ab4e-3e15c2b21692 · outbound

This paper cites Decentralized aerial manipulation of a cable-suspended load using multi-agent reinforcement learning,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Decentralized aerial manipulation of a cable-suspended load using multi-agent reinforcement learning,

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-15T15:56:34.888443Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ad29c245-fa10-42f9-b577-2666fe0bf45d · outbound

This paper cites Mujoco: A physics engine for model-based control,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Mujoco: A physics engine for model-based control,

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-15T15:56:34.892992Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8d50e83f-705f-4060-a11f-c2ba0ec572da · outbound

This paper cites Jaxmarl: Multi-agent rl environments and algorithms in jax,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Jaxmarl: Multi-agent rl environments and algorithms in jax,

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.358525Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 43ff7cc3-ad49-4df4-965f-5a1983573607 · outbound

This paper cites Sim-to-(multi)-real: Transfer of low-level robust control policies to multiple quadrotors,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads Sim-to-(multi)-real: Transfer of low-level robust control policies to multiple quadrotors,

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.344979Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 75812c35-5316-4816-b37c-7fdebbcadc20 · outbound

This paper cites A benchmark comparison of learned control policies for agile quadrotor flight,.

CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads A benchmark comparison of learned control policies for agile quadrotor flight,

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T15:56:35.331624Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Pith citing papers

Observation 360afb6c-2862-48b7-88de-44b6fe1c4eab · inbound

Autonomous Aerial Manipulation via Contextual Contrastive Meta Reinforcement Learning cites this paper.

Autonomous Aerial Manipulation via Contextual Contrastive Meta Reinforcement Learning CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads

Reference 4

Resolution: metadata mismatch; local_arxiv, observed 2026-07-02T22:47:25.791165Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.