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Geometry-morphing Micro Aerial Vehicles (MAVs) are gaining more and moreattention lately, since their ability to modify their geometric morphologyin-flight increases their versatility, while expanding their application range.In this novel research field, most of the works focus on the platform designand on the low-level control part for maintaining stability after thedeformation. Nevertheless, another aspect of geometry morphing MAVs is theassociation of the deformation with respect to the shape and structure of theenvironment. In this article, we propose a novel Nonlinear Model PredictiveControl (NMPC) structure that modifies the morphology of a quadrotor based onthe environmental entrances geometrical shape. The proposed method considersrestricted entrances as a constraint in the NMPC and modifies the armconfiguration of the MAV to provide a collision free path from the initialposition to the desired goal, while passing through the entrance. To theauthors' best knowledge, this work is the first to connect the in-flightmorphology with the characteristics of environmental shapes. Multiplesimulation results depict the performance and efficiency of the proposed schemein scenarios where the quadrotor is commanded to pass through restricted areas.

Geometry Aware NMPC Scheme for Morphing Quadrotor Navigation in Restricted Entrances