Here is a clever modular robotic structure capable of self-assembling in midair and flying cooperatively. ModQuad has modules consisting of a quadrotor within a cuboid frame that can attach to others by matching vertical faces. The structure also has magnets and 3D printed connector.
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ModQuad: The Flying Modular Structure that Self-Assembles in Midair (ICRA18)
As Vijay Kumar explains, a docking method is developed to ensure proper alignment and motion error correction.
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