A Non-planar Assembly of Modular Tetrahedral-shaped Aerial Robots

Obadah Wali, Mohamad T. Shahab, Eric Feron

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper presents a new design of aerial vehicles with tetrahedral geometry. We call this design the TetraQuad. The TetraQuad is a fractal modular aerial robot. A characteristic of fractals is that they have a geometric shape that can be assembled to generate the same geometry on a larger scale. Therefore multiple TetraQuad modules can be assembled to produce a larger scaled tetrahedral shaped aerial vehicle. The advantage is to have modular aerial robots that assemble in the vertical direction; this increases the rigidity of the structure, as well as reduces the wake interaction of the elevated propellers in the assembly. This work presents a design and analysis of the TetraQuad module as well as assemblies of multiple modules. A modular controller strategy is discussed. The functionality of the controller is illustrated using simulations. We validate our design with experimental flight tests.
Original languageEnglish (US)
Title of host publication2023 IEEE International Conference on Robotics and Automation (ICRA)
StatePublished - Jul 4 2023

Bibliographical note

KAUST Repository Item: Exported on 2023-07-07
Acknowledgements: Support for the work was provided by KAUST faculty baseline fund. The authors would like to acknowledge the help of Bilal Maassarani and Kuat Telegenov.


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