A deformable quadrotor autonomously plans both its trajectory and its changing radius, and a force-and-torque compensated controller reduces tracking error by 37.3%.
The foldable drone: A morphing quadrotor that can squeeze and fly,
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Shape-Adaptive Planning and Control for a Deformable Quadrotor
A deformable quadrotor autonomously plans both its trajectory and its changing radius, and a force-and-torque compensated controller reduces tracking error by 37.3%.