The Dodecacopter: a Versatile Multirotor System of Dodecahedron-Shaped Modules (2504.16475v1)

Abstract: With the promise of greater safety and adaptability, modular reconfigurable uncrewed air vehicles have been proposed as unique, versatile platforms holding the potential to replace multiple types of monolithic vehicles at once. State-of-the-art rigidly assembled modular vehicles are generally two-dimensional configurations in which the rotors are coplanar and assume the shape of a "flight array". We introduce the Dodecacopter, a new type of modular rotorcraft where all modules take the shape of a regular dodecahedron, allowing the creation of richer sets of configurations beyond flight arrays. In particular, we show how the chosen module design can be used to create three-dimensional and fully actuated configurations. We justify the relevance of these types of configurations in terms of their structural and actuation properties with various performance indicators. Given the broad range of configurations and capabilities that can be achieved with our proposed design, we formulate tractable optimization programs to find optimal configurations given structural and actuation constraints. Finally, a prototype of such a vehicle is presented along with results of performed flights in multiple configurations.

Overview of the Dodecacopter: A Versatile Multirotor System of Dodecahedron-Shaped Modules

The paper introduces the Dodecacopter, an innovative multirotor system exploiting the modularity and geometric properties of dodecahedron-shaped modules. This research addresses the limitations inherent in conventional modular unmanned aerial vehicles (UAVs), which predominantly utilize two-dimensional, coplanar rotor configurations defined as "flight arrays." The Dodecacopter represents a novel approach, designed to broaden vehicle configuration possibilities beyond traditional coplanar constraints, embracing three-dimensional frameworks that enhance versatility in application and control.

Conceptual Design and Configuration

The Dodecacopter's design involves integrating modules that each assume a regular dodecahedron shape. This geometric form enables the system to facilitate a wider range of structural arrangements, supporting three-dimensional and fully actuated configurations. The paper emphasizes the benefits of such configurations, highlighting that the dodecahedron modules allow for diverse spatial orientations and actuation potential, which could lead to improved maneuverability and operational efficiency in complex environments.

Structural and Actuation Analysis

The core analysis of the Dodecacopter's design focus is on its structural and actuation properties. Key performance indicators are employed to demonstrate the superiority of the Dodecacopter's configuration in terms of stability and control authority. The research argues for the enhanced effectiveness of three-dimensional configurations over traditional planar designs, theorizing that the structural integrity and dynamic responsiveness are significantly superior due to the multidirectional actuation capability enabled by the dodecahedron modules.

Optimization and Configuration Selection

Given the plethora of configuration possibilities afforded by the Dodecacopter design, the paper introduces a series of optimization programs designed to identify the most effective configurations for specific operational needs. These optimization algorithms account for structural constraints and actuation requirements, ensuring that the chosen configuration aligns with performance goals and operational conditions. The optimization framework presented in this paper is highly tractable, potentially aiding future design iterations and real-world application of modular UAV systems.

Prototyping and Experimental Validation

A significant portion of the paper is dedicated to the development and testing of a Dodecacopter prototype. The authors describe various flight tests conducted with the prototype in multiple configurations to validate theoretical predictions and demonstrate practical applications. The test flights provided valuable empirical data, affirming the Dodecacopter's capability to transition seamlessly between configurations—a feature that underscores its versatility.

Implications and Future Directions

The implications of the Dodecacopter's design are substantial for the future of modular UAV development. By breaking free from the limitations of coplanar rotor configurations, this research paves the way for more adaptable and robust aerial vehicles capable of executing a range of missions with enhanced precision and adaptability. The focus on modular, reconfigurable systems aligns with evolving technological demands for UAVs in areas such as surveillance, delivery, and emergency response.

Moving forward, the paper suggests further exploration of the Dodecacopter's potential, particularly in aligning its modular capabilities with advanced control systems and autonomous navigation technologies. Future iterations could benefit from improved materials and miniaturization techniques, tailored to specific application needs across various sectors.

In summary, the Dodecacopter represents a significant progression in modular UAV design, offering a versatile platform with extensive application potential. The integration of dodecahedron-shaped modules provides an innovative means to achieve more dynamic multirotor configurations, offering utility in scenarios demanding both flexibility and precision in aerial operations.