  Transportation missions in aerospace are limited to the capability of each
aerospace robot and the properties of the target transported object, such as
mass, inertia, and grasping locations. We present a novel decentralized
adaptive controller design for multiple robots that can be implemented in
different kinds of aerospace robots. Our controller adapts to unknown objects
in different gravity environments. We validate our method in an aerial scenario
using multiple fully actuated hexarotors with grasping capabilities, and a
space scenario using a group of space tugs. In both scenarios, the robots
transport a payload cooperatively through desired three-dimensional
trajectories. We show that our method can adapt to unexpected changes that
include the loss of robots during the transportation mission.
