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With the promise of greater safety and adaptability, modular reconfigurable uncrewed air vehicles have been proposed as unique, versatile platforms holding the potential to replace multiple types of monolithic vehicles at once.…

We introduce SplitFlyer--a novel quadcopter with an ability to disassemble into two self-contained bicopters through human assistance. As a subunit, the bicopter is a severely underactuated aerial vehicle equipped with only two propellers.…

Modular Aerial Robot Systems (MARS) consist of multiple drone modules that are physically bound together to form a single structure for flight. Exploiting structural redundancy, MARS can be reconfigured into different formations to mitigate…

The standard quadrotor is one of the most popular and widely used aerial vehicle of recent decades, offering great maneuverability with mechanical simplicity. However, the under-actuation characteristic limits its applications, especially…

Modular Aerial Robotic Systems (MARS) consist of multiple drone units assembled into a single, integrated rigid flying platform. With inherent redundancy, MARS can self-reconfigure into different configurations to mitigate rotor or unit…

A special type of rotary-wing Unmanned Aerial Vehicles (UAV), called Quadcopter have prevailed to the civilian use for the past decade. They have gained significant amount of attention within the UAV community for their redundancy and ease…

Enabling vertical take-off and landing while providing the ability to fly long ranges opens the door to a wide range of new real-world aircraft applications while improving many existing tasks. Tiltrotor vertical take-off and landing (VTOL)…

Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…

We introduce UFO, a modular aerial robotic platform for transforming a rigid object into a multirotor robot. To achieve this, we develop flight modules, in the form of a control module and propelling modules, that can be affixed to an…

This paper explores the mathematical modelling and 3D design of a tilt-rotor quadrotor aircraft. The aircraft is a VTOL design and has capacity for one pilot. The design incorporates a part manual part automatic computerised flight control…

This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor…

Modular self-reconfigurable robots (MSRRs) offer enhanced task flexibility by constructing various structures suitable for each task. However, conventional terrestrial MSRRs equipped with wheels face critical challenges, including…

This paper considers a class of rotary-wing aerial robots with unaligned propellers. By studying the dynamics of these vehicles, we show that the position and heading angle remain flat outputs of the system (similar to conventional…

Traditional aerial vehicles are constrained to perform specific tasks due to their adhoc designs. Based on modularity, we propose a versatile robot, H-ModQuad, that can adapt to different tasks by increasing its load capacity and actuated…

We introduce a large-scale robotic system designed as a lightweight, modular, and reconfigurable structure for lunar applications. The system consists of truss-like robotic triangles formed by continuous inflated fabric tubes routed through…

Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…

This work presents a prototype of a multirotor aerial vehicle capable of precision landing, even under the effects of rotor failures. The manuscript presents the fault-tolerant techniques and mechanical designs to achieve a fault-tolerant…

To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust--angular…

In this paper, a new under-actuated Bi-Quadcopter Unmanned Aerial Vehicle is introduced. The proposed drone configuration can be controlled similar to a Bicopter. The dynamics of the proposed Bi-Quadcopter is developed using the…

This paper presents a control strategy based on dual quaternions for the coordinated formation flying of small UAV groups. A virtual structure is employed to define the desired formation, enabling unified control of its position,…