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We introduce SplitFlyer--a novel quadcopter with an ability to disassembleinto two self-contained bicopters through human assistance. As a subunit, thebicopter is a severely underactuated aerial vehicle equipped with only twopropellers. Still, each bicopter is capable of independent flight. To achievethis, we provide an analysis of the system dynamics by relaxing the controlover the yaw rotation, allowing the bicopter to maintain its large spinningrate in flight. Taking into account the gyroscopic motion, the dynamics aredescribed and a cascaded control strategy is developed. We constructed atransformable prototype to demonstrate consecutive flights in bothconfigurations. The results verify the proposed control strategy and show thepotential of the platform for future research in modular aerial swarm robotics.

SplitFlyer: a Modular Quadcoptor that Disassembles into Two Flying Robots