Human operators have difficulty driving cranes quickly, accurately, and safely because of the sluggish response of the massive structure and large payload swings. Manipulation difficulty is also increased by non-intuitive crane-control interfaces that consist of buttons and levers. A new type of crane-control interface allows operators to drive a crane by simply moving a small radio frequency emitter through the desired path. Real-time-location sensors track the movements of the radio tag. The tag position is used in a proportional feedback control scheme to drive the crane trolley toward the tag. Unfortunately, the crane payload usually responds with large-amplitude swings. Feedback control of the payload swing is not implemented, due to the difficulty of measuring the payload state. Instead, an input-shaping control element is used to limit swing. Simulations of the crane dynamics are used to select a good combination of feedback gains and input-shaper parameters. Experiments performed on an industrial bridge crane verify the effectiveness of the proposed control approach.