In challenging terrains, constructing structures such as antennas and cable-car masts often requires the use of helicopters to transport loads via ropes. The swinging of the load, exacerbated by wind, impairs positioning accuracy, therefore necessitating precise manual placement by ground crews. This increases costs and risk of injuries. Challenging this paradigm, we present Geranos: a specialized multirotor Unmanned Aerial Vehicle (UAV) designed to enhance aerial transportation and assembly. Geranos demonstrates exceptional prowess in accurately positioning vertical poles, achieving this through an innovative integration of load transport and precision. Its unique ring design mitigates the impact of high pole inertia, while a lightweight two-part grasping mechanism ensures secure load attachment without active force. With four primary propellers countering gravity and four auxiliary ones enhancing lateral precision, Geranos achieves comprehensive position and attitude control around hovering. Our experimental demonstration mimicking antenna/cable-car mast installations showcases Geranos ability in stacking poles (3 kg, 2 m long) with remarkable sub-5 cm placement accuracy, without the need of human manual intervention.

翻译：摘要：在复杂地形中，建造天线或缆车桅杆等结构时，常需使用直升机通过绳索运输负载。负载的摆动（受风力加剧）会降低定位精度，因此需要地面团队进行精准人工定位。这既增加了成本，也带来了受伤风险。针对这一难题，我们提出了Geranos：一种专为增强空中运输与组装能力而设计的多旋翼无人飞行器。Geranos通过创新性地融合负载运输与精密操作，在垂直杆的精准定位方面展现出卓越能力。其独特的环形设计可抑制高惯性杆的摆动效应，而轻量化的两段式抓取机构无需主动施力即可确保负载固连。四个主旋翼抵消重力，四个辅助旋翼增强横向控制精度，使Geranos能够在悬停状态下实现全向位置与姿态控制。我们模拟天线/缆车桅杆安装的实验表明，Geranos能以小于5厘米的卓越定位精度完成杆体（3千克，2米长）的堆叠操作，全程无需人工干预。