This work presents a novel Aspect Ratio-Modular Vertical Take-Off and Landing (ARM-VTOL) aerial robot, which is a meta-aircraft composed of two or more TiltRotor hybrid aircraft systems capable of magnetically being coupled during hovering flight, and of executing VTOL / Fixed-Wing hybrid missions once combined. The proposed meta-aircraft system carries the advantage of improved aerodynamic efficiency due its increased cumulative planform aspect ratio, which can be leveraged to achieve prolonged flight times in collaborative multi-vehicle flight. We propose an extendable methodology for its control which relies on the multi-body equivalent dynamics, and we present the coupling mechanism design that facilitates its experimental demonstration. We accompany these contributions with a field test-driven evaluation study conducted with a bi-vehicle ARM-VTOL prototype. The presented sequence includes vehicle-to-vehicle magnetic coupling during hovering flight, and is followed by a combined-vehicle mission comprising vertical climb, VTOL-forward transition, fixed-wing flight and maneuvering, and reverse-transition to VTOL and landing.

A Multi-VTOL Modular Aspect Ratio Reconfigurable Aerial Robot

Conceptual design and flight test of two wingtip-docked multi-body aircraft

This paper details the successful takeoff and landing of a wing-tip-connected meta aircraft prototype. The aircraft consisted of two commercial off-the-shelf high wing trainers connected wing tip t...

Takeoff and Landing of a Wing-Tip-Connected Meta Aircraft with Feedback Control

Experimental study on aerodynamic characteristics of fixed-wing UAV air docking

This paper details the design of an open-source configurable software in the loop simulation environment developed in C++ programming language codenamed FASTKit (Facility for Aerospace Systems and Technology Kit). This simulation environment simulates a real-world environment and is designed to test flight control software of a vehicle before flight testing of physical hardware. The software is designed to be modular by allowing the user to build a portfolio containing the simulation input files, CAD, aerodynamics and control system of the vehicle which allows the software to work with a wide variety of vehicles including but not limited to: airplanes, multicopters, satellites and ground vehicles. FASTKit currently runs in two modes: simulation only (SIMONLY) mode and software in the loop mode (SIL). The SIMONLY mode allows the vehicle to be mathematically simulated for a specified time with the results being displayed as plots at the end of the simulation, whereas the SIL mode simulates the vehicle in a virtual environment in realtime with flight control software running in both modes. These modes have been tested on a laptop running Ubuntu 20.04 using a quadcopter and airplane. 

The Facility for Aerospace Systems and Technology Simulation: FASTSim - An Open Source Configurable Software in the Loop Simulation Environment

Disaster Response Fixed Wing UAV for Gulf of Mexico Field Campaign

Control Optimization of a Novel eVTOL/Pusher Transport Aircraft with Known Faults

Guidance, Navigation, and Control Subsystem Trade Study of AEGIS

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Papers

Takeoff and Landing of a Wing-Tip-Connected Meta Aircraft with Feedback Control

Disaster Response Fixed Wing UAV for Gulf of Mexico Field Campaign

Control Optimization of a Novel eVTOL/Pusher Transport Aircraft with Known Faults

Guidance, Navigation, and Control Subsystem Trade Study of AEGIS