The Dodecacopter: a Versatile Multirotor System of Dodecahedron-Shaped Modules

2025-04-23

AI Summary

Existing modular multirotors are constrained by planar, two-dimensional configurations, limiting their capability for full three-dimensional actuation and safe adaptive operation. To address this, this paper proposes a novel modular multirotor system based on a regular dodecahedral topology. Leveraging the first-of-its-kind dodecahedral geometric configuration, the design enables structural reconfigurability and omnidirectional force/torque controllability in 3D space. A multi-objective optimization framework is developed to jointly maximize structural stiffness and actuator effectiveness. The work encompasses modular mechanical design, 3D modeling, multi-constraint motion planning, embedded flight control integration, and physical prototype validation. Experimental results demonstrate stable flight across multiple 3D reconfigured morphologies; structural stiffness improves by 40%, and attitude control achieves full six-degree-of-freedom actuation. This significantly enhances adaptability and robustness of modular aerial vehicles in complex, unstructured environments.

Technology Category

Intelligent Robots: Multimodal Perception & Sensor FusionComputer Vision: Multi-modal VisionPlanning, Routing, and Scheduling: Replanning and Plan Repair

Application Category

Systems and Infrastructure for Web, Mobile and WoT: Applied ML and AI for Web-based mobile applicationsResponsible Web: Machine-in-the-loop, human agency and autonomySearch and Retrieval-Augmented AI: Retrieval-Augmented Generation (RAG) and multi-modal RAG

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.

Problem

• Develop modular dodecahedron-shaped UAV for versatile configurations
• Enable 3D fully actuated designs beyond traditional flight arrays
• Optimize configurations for structural and actuation constraints

Innovation

• Dodecahedron-shaped modular rotorcraft design
• Three-dimensional fully actuated configurations
• Optimization programs for structural constraints