This work proposes the Drone Reconfigurable Architecture (\(\mathcal {DRA}\)), which is a modular architecture for UAVs with electrical, mechanical, and computational specifications. The theoretical aspects of the architecture are introduced through a case study with practical implementations aiming to design a multi-rotor UAV, which also includes the manufacturing steps of a functional prototype. Our proposal can be used in a scenario where the capacity of physical reconfiguration of a UAV would confer an enormous advantage to these aircraft in terms of applicability. This happens in the case where each task typically requires a robot with a particular physical architecture (number and position of propellers, autonomy, thrust, sensors, and communication). Results of a set of tests with an aircraft assembly are presented to verify the versatility of the proposed architecture, demonstrating the better performance of these aircraft when compared with conventional UAVs. The proposed methodology allows applications in a variety of scenarios like cargo transportation, support, agriculture, publicity, pest control, surveillance, inspection, and entertainment, between others. In these scenarios, although a software with some generic components could easily control drones to perform all of them, it is unthinkable to consider that a single drone with a particular physical structure would be able to be adapted to all of the tasks necessary (as path following, localization, and mapping).

这项工作提出了无人机可重配置架构（\（\ mathcal {DRA} \）），这是具有电气，机械和计算规格的无人机的模块化架构。通过案例研究介绍了该体系结构的理论方面，并以旨在设计多旋翼无人机的实际实现为例进行了介绍，其中还包括功能原型的制造步骤。我们的建议可用于无人飞机的物理重新配置能力在适用性方面为这些飞机带来巨大优势的情况下使用。在每个任务通常都需要具有特定物理结构（螺旋桨的数量和位置，自主权，推力，传感器和通信）的机器人的情况下会发生这种情况。提出了一系列使用飞机总成的测试结果，以验证所提议架构的多功能性，证明了与传统无人机相比，这些飞机的性能更好。所提出的方法允许在各种场景之间进行应用，例如货物运输，支持，农业，宣传，害虫控制，监视，检查和娱乐等。在这些情况下，尽管具有某些通用组件的软件可以轻松地控制无人机执行所有这些任务，但无法想到具有特定物理结构的单个无人机将能够适应所有必要的任务（如路径以下，本地化和映射）。之间。在这些情况下，尽管具有某些通用组件的软件可以轻松地控制无人机执行所有这些任务，但无法想到具有特定物理结构的单个无人机将能够适应所有必要的任务（如路径以下，本地化和映射）。之间。在这些情况下，尽管具有某些通用组件的软件可以轻松地控制无人机执行所有这些任务，但无法想到具有特定物理结构的单个无人机将能够适应所有必要的任务（如路径以下，本地化和映射）。