Human-robot teams engaged in transportation and data collection will often share a common physical workspace. This project will investigate fundamental challenges in human-cyberphysical-systems (h-CPS) for cooperative aerial payload transport.  First, Unmanned Aerial Vehicles (UAVs) cooperatively lift and carry a payload through a cluttered environment under uncertain winds. The multi-UAV system (MUS) functions autonomously to allow human companions to focus attention on their environment while interacting with the MUS.