Based on a project internship in 2009, a quadcopter was set up at the LSR. This was continuously further developed in the following years in order to experimentally test the follow-up control for highly dynamic maneuvers. Based on the experiences with the quadcopter, a new type of tricopter was developed in 2012 as part of student projects. This is characterized by 3 independently swiveling propellers. Thus, a completely directly controlled rigid body is available, with which, in contrast to the established quadcopter, any maneuvers can be implemented. The maneuverability was also used for cooperative load transport with several tricopters. A particular challenge here is the use of heavy ropes, which makes it necessary to take distributed parametric effects into account.