@inproceedings{,

title = {H-ModQuad: Modular Multi-Rotors with 4, 5, and 6 Controllable DOF},

author = {Jiawei Xu and Diego S. D’Antonio and David Saldaña},

url = {https://youtu.be/olKYuWPWxHo

https://arxiv.org/pdf/2106.04048.pdf},

doi = {10.1109/ICRA48506.2021.9561016},

isbn = {978-1-7281-9077-8},

year  = {2021},

date = {2021-10-18},

urldate = {2021-10-18},

booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},

abstract = {Traditional aerial vehicles are usually custom-designed for specific tasks. Although they offer an efficient solution, they are not always able to adapt to changes in the task specification, e.g., increasing the payload. This applies to quadrotors, having a maximum payload and only four controllable degrees of freedom, limiting their adaptability to the task’s variations. We propose a versatile modular robotic system that can increase its payload and degrees of freedom by assembling heterogeneous modules; we call it H-ModQuad. It consists of cuboid modules propelled by quadrotors with tilted propellers that can generate forces in different directions. By connecting different types of modules, an H-ModQuad can increase its controllable degrees of freedom from 4 to 5 and 6. We model the general structure and propose three controllers, one for each number of controllable degrees of freedom. We extend the concept of the actuation ellipsoid to find the best reference orientation that can maximize the performance of the structure. Our approach is validated with experiments using actual robots, showing the independence of the translation and orientation of a structure.},

keywords = {aerial robot, modquad, modular robots, multi-rotor, quadrotor},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{finding2021gabrich,

title = {Finding Structure Configurations for Flying Modular Robots},

author = {Bruno Gabrich and David Saldaña and Mark Yim},

doi = {10.1109/IROS51168.2021.9636086},

year  = {2021},

date = {2021-01-01},

urldate = {2021-01-01},

booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

pages = {6970-6976},

keywords = {aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{8794056,

title = {ModQuad-Vi: A Vision-Based Self-Assembling Modular Quadrotor},

author = {Guanrui Li and Bruno Gabrich and David Saldaña and Jnaneshwar Das and Vijay Kumar and Mark Yim},

doi = {10.1109/ICRA.2019.8794056},

year  = {2019},

date = {2019-01-01},

urldate = {2019-01-01},

booktitle = {2019 International Conference on Robotics and Automation (ICRA)},

pages = {346-352},

keywords = {aerial robot, computer vision, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{icra18gripper,

title = {A Flying Gripper Based on Cuboid Modular Robots},

author = {Bruno Gabrich and David Saldaña and Vijay Kumar and Mark Yim},

url = {https://youtu.be/43RSgWRLhJc},

doi = {10.1109/ICRA.2018.8460682},

issn = {2577-087X},

year  = {2018},

date = {2018-05-01},

urldate = {2018-05-01},

booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)},

pages = {7024-7030},

keywords = {aerial manipulation, aerial robot, gripper, modquad, modular robots, multi-rotor, quadrotor},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{icra18modquad,

title = {ModQuad: The Flying Modular Structure that Self-Assembles in Midair},

author = {David Saldaña and Bruno Gabrich and Guanrui Li and Mark Yim and Vijay Kumar},

url = {https://youtu.be/t9kXrhDwXf0},

doi = {10.1109/ICRA.2018.8461014},

issn = {2577-087X},

year  = {2018},

date = {2018-05-01},

urldate = {2018-05-01},

booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)},

pages = {691-698},

keywords = {aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{8206101,

title = {A decentralized algorithm for assembling structures with modular robots},

author = {David Saldaña and Bruno Gabrich and Michael Whitzer and Amanda Prorok and Mario F. M. Campos and Mark Yim and Vijay Kumar},

doi = {10.1109/IROS.2017.8206101},

year  = {2017},

date = {2017-01-01},

urldate = {2017-01-01},

booktitle = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

pages = {2736-2743},

keywords = {modquad, modular robots, self-reconfiguration algorithms},

pubstate = {published},

tppubtype = {inproceedings}

}