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This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV)platform called the Multi-robot Systems (MRS) Drone that can be used in a largerange of indoor and outdoor applications. The MRS Drone features uniquemodularity with respect to changes in actuators, frames, and sensoryconfiguration. As the name suggests, the platform is specially tailored fordeployment within a MRS group. The MRS Drone contributes to thestate-of-the-art of UAV platforms by allowing smooth real-world deployment ofmultiple aerial robots, as well as by outperforming other platforms with itsmodularity. For real-world multi-robot deployment in various applications, theplatform is easy to both assemble and modify. Moreover, it is accompanied by arealistic simulator to enable safe pre-flight testing and a smooth transitionto complex real-world experiments. In this manuscript, we present mechanicaland electrical designs, software architecture, and technical specifications tobuild a fully autonomous multi UAV system. Finally, we demonstrate the fullcapabilities and the unique modularity of the MRS Drone in various real-worldapplications that required a diverse range of platform configurations.

MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems