Self-assembling Modular Aerial Robot for Versatile Aerial Tasks

• URL: http://arxiv.org/abs/2605.19431v1
• Date: Tue, 19 May 2026 06:36:10 GMT
• Title: Self-assembling Modular Aerial Robot for Versatile Aerial Tasks
• Abstract summary: LEGION are reconfigurable modular aerial robots capable of in-flight self-assembly for cooperative manipulation.<n>Each unit retains nimble maneuverability while joint-equipped docking interfaces at both ends enable end-to-end self-assembly into a flying manipulator.<n>We show that multiple units autonomously dock in flight; once latched, they maintain a zero-altitude interlock by controlling the contact force and torque.
• Score: 10.266801150836544
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Multirotor aerial robots excel at maneuvering in three-dimensional space, and recent advances enable nimble navigation in cluttered and confined environments, especially for small airframes. By contrast, platforms built for high-altitude work tend to be larger to deliver high thrust for stable physical interaction with the environment. However, these conflicting design requirements create a long-standing trade-off between nimble navigation and robust aerial manipulation. Here, we present LEGION units, which are reconfigurable modular aerial robots capable of in-flight self-assembly for cooperative manipulation, drawing inspiration from the self-organized collectives formed by ants. Each unit retains nimble maneuverability while joint-equipped docking interfaces at both ends enable end-to-end self-assembly into a flying manipulator. We show that multiple units autonomously dock in flight; once latched, they maintain a zero-clearance interlock by controlling the contact force and torque, enabling reliable aggregation and articulated motion even outdoors. We further show that self-reconfigurability enables morphological switching between nimble individual flight and collective articulated manipulation, while realizing core in-flight manipulation primitives including pushing, pulling, rotating, grasping, and carrying. LEGION's self-organization enables aerial robots, especially in swarms, to shift from passive observers to active participants in their environment, broadening the scope of aerial physical interaction.

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