The paper presents a modular aerial robotic system composed of cuboid modules propelled by quadrotors with tilted rotors. Two module designs with different actuation properties, termed R-modules and T-modules, are introduced. By assembling different types of modules, the H-ModQuad system can increase its actuated degrees of freedom from 4 to 5 and 6 depending on its configuration.
The authors extend the concept of actuation ellipsoids to find the body frame along the z-axis where the vehicle can maximize the maximum thrusting force while maintaining attitude. Actuation polytopes are used to represent the actuation capability of the vehicles and examine them against task requirements. A general control strategy is proposed that applies for all possible numbers of actuated degrees of freedom.
The design is validated through simulations and experiments using actual robots, showing that the modular vehicles provide different actuation properties. The R-modules maximize force generation in a specific direction, while the T-modules allow for a wider range of tilting angles when hovering.
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