This invention performs relative positioning, predictive control, and ballast control to achieve very heavy-lifting tasks on land or sea. Such tasks allow station keeping and precise transfer of very heavy payloads between ships underway. This scalable multibody system features three subcomponents: Airship, Skycrane and Loadframe. This semi-autonomous system combines aerodynamic (kinetic) and aerostatic (buoyancy force) lift with efficient power and propulsion. During low-speed flight, the Airship and Skycrane are decoupled but linked via a reelable Tether Control Line. Beneath the Skycrane, centered on its hull, a patented NIST (National Institute of Standards and Technology) RoboCrane, featuring a computer controlled six degrees of freedom (DoF) cabling system, is attached, to precisely suspend and control a Loadframe, with or without payload. During subsonic forward flight, these Airship and Skycrane are coupled as a single airframe: fuselage and delta wing.