A dodecahedron-based modular rotorcraft system that supports three-dimensional, fully actuated configurations, with convex optimization tools for control allocation and configuration design, demonstrated on a physical prototype.
ModQuad: The flying modular structure that self- assembles in midair,
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The Dodecacopter: a Versatile Multirotor System of Dodecahedron-Shaped Modules
A dodecahedron-based modular rotorcraft system that supports three-dimensional, fully actuated configurations, with convex optimization tools for control allocation and configuration design, demonstrated on a physical prototype.