ModQuad: Assembling Structures in Midair

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We introduce ModQuad, a novel flying modular robotic structure that is able to self-assemble in midair and cooperatively fly. The structure is composed by agile flying modules that can easily move in a three dimensional environment. The module is based on a quadrotor platform within a cuboid frame which allows it to attach to other modules by matching vertical faces. Using this mechanism, a ModQuad swarm is able to rapidly assemble flying structures in midair using the robot bodies as building units.