Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to modify during operation. To address this problem, we introduce a versatile modular multi-rotor vehicle that can change its capabilities by reconfiguration. Our modular robot consists of homogeneous cuboid modules, propelled by quadrotors with tilted rotors. Depending on the number of modules and their configuration, the robot can expand its actuation capabilities. In this paper, we build a mathematical model for the actuation capability of a modular multi-rotor vehicle and develop methods to determine if a vehicle is capable of satisfying a task requirement. Based on this result, we find the optimal configurations for a given task. Our approach is validated in realistic 3D simulations, showing that our modular system can adapt to tasks with varying requirements.

翻译：传统飞行器因执行器约束（如电机饱和）而存在能力限制。其硬件组件及布局设计用于满足特定需求，且在运行过程中难以调整。为解决此问题，我们提出一种通过重构改变能力的通用模块化多旋翼飞行器。该模块化机器人由同质立方体模块构成，通过配备倾斜旋翼的四旋翼提供动力。根据模块数量及其配置方式，机器人可扩展执行能力。本文建立了模块化多旋翼飞行器执行能力的数学模型，并开发了判定飞行器能否满足任务需求的方法。基于此结果，我们找到了给定任务的最优配置。通过逼真的三维仿真验证表明，所提出的模块化系统能够适应不同需求的任务。