This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor configurations, and even UAV frames. This allows to achieve, with minimal effort, a proper experimental setup for single, as well as, multi robot scenarios. Presented platforms are intended to facilitate the transition from simulations, and simplified laboratory experiments, into the deployment of aerial robots into uncertain and hard-to-model real-world conditions. We present mechanical designs, electric configurations, and dynamic models of the UAVs, followed by numerous recommendations and technical details required for building such a fully autonomous UAV system for experimental verification of scientific achievements. To show strength and high variability of the proposed system, we present results of tens of completely different real-robot experiments in various environments using distinct actuator and sensory configurations.

翻译：本文介绍了一系列设计用于多种室内外应用场景的自主无人机平台。所提出的无人机设计在执行器、传感器配置甚至机架结构方面具有高度模块化特性。这种设计能以最小工作量构建适用于单机器人及多机器人场景的实验平台。这些平台旨在促进从仿真和简化实验室实验向不确定且难以建模的真实环境中部署空中机器人的过渡。我们详细阐述了无人机的机械设计、电气配置及动力学模型，并提供了构建此类全自主无人机系统以验证科学成果所需的众多建议与技术细节。为展示该系统的高度灵活性，我们展示了在多种环境中使用不同执行器与传感器配置进行的数十项完全真实机器人实验的结果。