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This letter presents a novel and retractable ring-shaped quadrotor calledRing-Rotor that can adjust the vehicle's length and width simultaneously.Unlike other morphing quadrotors with high platform complexity and poorcontrollability, Ring-Rotor uses only one servo motor for morphing but reducesthe largest dimension of the vehicle by approximately 31.4\%. It can guaranteepassibility while flying through small spaces in its compact form and energysaving in its standard form. Meanwhile, the vehicle breaks the crossconfiguration of general quadrotors with four arms connected to the centralbody and innovates a ring-shaped mechanical structure with spare central space.Based on this, an ingenious whole-body aerial grasping and transportationscheme is designed to carry various shapes of objects without the externalmanipulator mechanism. Moreover, we exploit a nonlinear model predictivecontrol (NMPC) strategy that uses a time-variant physical parameter model toadapt to the quadrotor morphology. Above mentioned applications are performedin real-world experiments to demonstrate the system's high versatility.

Ring-Rotor: A Novel Retractable Ring-shaped Quadrotor with Aerial Grasping and Transportation Capability