This video shows some simulation results on the application of a novel type of control for physically interacting UAVs based on the IDA-PBC framework.
See  for the paper describing the method.
- , “Reshaping the Physical Properties of a Quadrotor through IDA-PBC and its Application to Aerial Physical Interaction”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 6258-6265.