  The use of cables for aerial manipulation has shown to be a lightweight and
versatile way to interact with objects. However, fastening objects using cables
is still a challenge and human is required. In this work, we propose a novel
way to secure objects using hitches. The hitch can be formed and morphed in
midair using a team of aerial robots with cables. The hitch's shape is modeled
as a convex polygon, making it versatile and adaptable to a wide variety of
objects. We propose an algorithm to form the hitch systematically. The steps
can run in parallel, allowing hitches with a large number of robots to be
formed in constant time. We develop a set of actions that include different
actions to change the shape of the hitch. We demonstrate our methods using a
team of aerial robots via simulation and actual experiments.
