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In this paper, we introduce a new quadcopter fail-safe flight solution thatcan perform the same four controllable degrees-of-freedom flight as a regularmultirotor even when a single thruster fails. The new solution employs a novelmultirotor platform known as the T3-Multirotor and utilizes a distinctivestrategy of actively controlling the center of gravity position to restore thenominal flight performance. A dedicated control structure is introduced, alongwith a detailed analysis of the dynamic characteristics of the platform thatchange during emergency flights. Experimental results are provided to validatethe feasibility of the proposed fail-safe flight strategy.

Fail-safe Flight of a Fully-Actuated Quadcopter in a Single Motor Failure