Modular aerial robots such as UAVs equipped with manipulation mechanisms offer significant potential for tasks like payload transportation and operations in hazardous environments. We introduce ModCAM, a novel aerial manipulation technique employing cooperative UAVs for autonomous navigation and payload transport in GPS-denied environments. Our system features a multi-degree-of-freedom (M-DoF) manipulator that uses a push-based method to elevate payloads above the UAVs, enhancing maneuverability and reducing slipstream effects. Our adaptive localization method, utilizing Visual-Inertial Odometry (VIO), across four UAVs ensures precise formation control, maintaining an optimal spacing of 1 meter. The prototype UAVs utilize custom-built components and open-source hardware to ensure reproducibility within the research community. The stability and effectiveness of our system are validated through simulations and real-world experiments, achieving tracking errors of \(\pm 0.35\) rad/s for pitch and \(\pm \) 0.79 rad/s for roll.