6 accepted papers
Flying Modular Structures offer a versatile mechanism that can change the arrangement of constituent actuators according to task requirements. In this work, we extend a modular aerial platform that can expand its actuation capabilities depending on the configuration. Each module is composed of a qua…
In this work we introduce ModQuad-DoF, a modular flying robotic structure with enhanced capabilities for yaw actuation. We propose a new module design that allows a one degree of freedom relative motion between the flying robot and the cage, with a docking mechanism allowing rigid connections betwee…
Flying modular robots have the potential to rapidly form temporary structures. In the literature, docking actions rely on external systems and indoor infrastructures for relative pose estimation. In contrast to related work, we provide local estimation during the self-assembly process to avoid depen…
We present a novel flying modular platform capable of grasping and transporting objects. It is composed of four cooperative identical modules where each is based on a quadrotor within a cuboid frame with a docking mechanism. Pairs of modules are able to fly independently and physically connect by ma…
We introduce ModQuad, a novel flying modular robotic structure that is able to self-assemble in midair and cooperatively fly. The structure is composed by agile flying modules that can easily move in a three dimensional environment. The module is based on a quadrotor platform within a cuboid frame w…
Recent work in the field of bio-inspired robotic systems has introduced designs for modular robots that are able to assemble into structures (e.g., bridges, landing platforms, fences) using their bodies as the building components. Yet, it remains an open question as to how to program large swarms of…