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}

翻译：本研究提出了一种在无外部激励条件下，通过调整多旋翼无人机围绕载荷的排布方式实现系统悬停的策略，并开发了用于建模无人机-载荷系统动力学的MATLAB软件。该设计基于几何原理，确保载荷与系统质心始终保持对正。成功的悬停实验验证了该方法的有效性。此外，算法进一步改进以考虑推力容量与螺旋桨间距，可计算实现悬停所需的最小无人机数量。数值算例证明了算法的实用性，结果表明：大型无人机所需单元数量较少，而小型无人机则具有更高的布局灵活性。代码开源地址：\href{https://github.com/Hosnooo/Swarm-Slung-Payload}{https://github.com/Hosnooo/Swarm-Slung-Payload}