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The current work presents a human-controlled modality to successfully execute spontaneous outdoor flight of a quadcopter with a cable-suspended payload. Stable and smooth flights are achieved through an onboard integration of a custom-built sensor system and a controller to minimize payload oscillations. The feasibility of the proposed modality is demonstrated by conducting outdoor experiments and a case study in an unstructured environment.<\/jats:p>","DOI":"10.1017\/s0263574721001302","type":"journal-article","created":{"date-parts":[[2021,9,17]],"date-time":"2021-09-17T07:11:52Z","timestamp":1631862712000},"page":"1650-1664","source":"Crossref","is-referenced-by-count":3,"title":["On-board cable attitude measurement and controller for outdoor aerial transportation"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0952-1115","authenticated-orcid":false,"given":"Pratik","family":"Prajapati","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4163-6318","authenticated-orcid":false,"given":"Sagar","family":"Parekh","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6776-7431","authenticated-orcid":false,"given":"Vineet","family":"Vashista","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2021,9,17]]},"reference":[{"doi-asserted-by":"publisher","key":"S0263574721001302_ref4","DOI":"10.1109\/IROS.2011.6094871"},{"doi-asserted-by":"publisher","key":"S0263574721001302_ref7","DOI":"10.1109\/ICRA.2018.8460742"},{"doi-asserted-by":"crossref","unstructured":"[37] Masone, C. , B\u00fclthoff, H. 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