Reconfigurable multirotors (RMs) with flexible frames and integrated mechanical compliance are increasingly explored to develop multifunctional aerial robots with high power-to-weight ratios. In this paper, we review the state-of-the-art research on RMs and classify them into three broad categories as tiltrotors, multimodal and foldable RMs. The RMs with the ability to arbitrarily orient their thrust by employing tilting rotors are classified as tiltrotors, the multirotors with multi modal locomotion capabilities by transforming the chassis into land/water propulsion systems are classified as multimodal RMs, and those which can alter the size of the chassis are labelled as foldable RMs. Existing platforms are analyzed from three different perspectives—mechanical design, challenges of low-level control and high level motion planning techniques. Finally, we identify the critical parameters for design optimization, and discuss the issues associated with developing a common control and motion planning algorithm that can leverage any RM’s features to demonstrate successful autonomous missions.

越来越多地探索具有灵活框架和集成机械柔顺性的可重构多旋翼 (RM)，以开发具有高功率重量比的多功能空中机器人。在本文中，我们回顾了对 RM 的最新研究，并将它们分为三大类，即倾转旋翼、多模式和可折叠 RM。能够通过倾转旋翼任意定向推力的 RM 被归类为倾转旋翼，通过将底盘转换为陆地/水上推进系统而具有多模态运动能力的多旋翼被归类为多模态 RM，而那些可以改变大小的 RM 被归类为多模态 RM。机箱被标记为可折叠 RM。从三个不同的角度分析现有平台——机械设计、低级控制的挑战和高级运动规划技术。