This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with respect to changes in actuators, frames, and sensory configuration. As the name suggests, the platform is specially tailored for deployment within a MRS group. The MRS Drone contributes to the state-of-the-art of UAV platforms by allowing smooth real-world deployment of multiple aerial robots, as well as by outperforming other platforms with its modularity. For real-world multi-robot deployment in various applications, the platform is easy to both assemble and modify. Moreover, it is accompanied by a realistic simulator to enable safe pre-flight testing and a smooth transition to complex real-world experiments. In this manuscript, we present mechanical and electrical designs, software architecture, and technical specifications to build a fully autonomous multi UAV system. Finally, we demonstrate the full capabilities and the unique modularity of the MRS Drone in various real-world applications that required a diverse range of platform configurations.

翻译：本文介绍了一种名为多机器人系统（MRS）无人机的模块化自主无人机平台，可广泛应用于室内外场景。MRS Drone在驱动器、机身框架和传感器配置方面具有独特的模块化特性。正如其名称所示，该平台专为多机器人系统（MRS）组中的部署而设计。MRS Drone通过实现多台空中机器人的顺畅实际部署，并凭借其模块化性能超越其他平台，推动了无人机平台技术的前沿发展。针对各类应用场景中的实际多机器人部署需求，该平台兼具易于组装和便于改造的特性。此外，平台配备高保真仿真器，支持安全的飞行前测试，并可平滑过渡到复杂真实实验。本文详细阐述了构建全自主多无人机系统所需的机械与电气设计、软件架构及技术规范。最后，我们通过需要多样化平台配置的实际应用案例，全面展示了MRS Drone的性能与独特的模块化优势。