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We introduce UFO, a modular aerial robotic platform for transforming a rigidobject into a multirotor robot. To achieve this, we develop flight modules, inthe form of a control module and propelling modules, that can be affixed to anobject. The object, or payload, serves as the airframe of the vehicle. Themodular design produces a highly versatile platform as it is reconfigurable bythe addition or removal of flight modules, adjustment of the modules'arrangement, or change of payloads. To facilitate the flight control, wepropose an IMU-based estimation strategy for rapid computation of the robot'sconfiguration. When combined with the adaptive geometric controller for furtherrefinement of uncertain parameters, stable flights are accomplished withminimal manual intervention or tuning required by a user. To this end, wedemonstrate hovering and trajectory tracking flights through various robot'sconfigurations with different dummy payloads, weighing ~200-800 grams, usingfour to eight propelling modules. The results reveal that stable flights areattainable thanks to the proposed IMU-based estimation method. The flightperformance is markedly improved over time through the adaptive scheme, withthe position errors of a few centimeters after the parameter convergence.

Universal Flying Objects: Modular Multirotor System for Flight of Rigid Objects