An example method includes: determining a period of natural oscillation of a floating ground station in an airborne wind turbine with an aerial vehicle coupled to the ground station via a tether, and wherein each natural-oscillation period comprises forward and backward displacement of the floating ground station with respect to the aerial vehicle; and operating the aerial vehicle to fly in a substantially circular path with a looping period that matches the natural-oscillation period of the floating ground station, and a looping phase that aligns with the oscillation phase of the floating ground station such that movement of the aerial vehicle on a downstroke portion the circular path corresponds to forward displacement of the floating ground station, and movement of the aerial vehicle on an upstroke portion the circular path corresponds to reverse displacement of the floating ground station.
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