The Distributed Flight Array: Design, implementation, and analysis of a modular vertical take-off and landing vehicle

We describe the design and implementation of a modular vertical take-off and landing vehicle, which can be assembled and flown in an unlimited number of arbitrary configurations. This vehicle is intended to be used as a testbed for evaluating distributed estimation and control algorithms. We present the custom hardware, dynamics model, method of state estimation, and a parameterized control strategy capable of controlling any flight-feasible configuration of the vehicle. In terms of the control strategy, we describe a method for optimizing its parameters in order to achieve the best possible performance subject to the system's physical constraints. We then show a straightforward method of mapping the configuration space of our vehicle to the control parameter space. Experimental results are included, demonstrating flight for a variety of configurations both indoors and outdoors.