In-flight Re-Configurable Systems

Multirotors areproviding ease for various applications like, environmental monitoring, surveillance, spying, radiation data collection, indoor 3-D mapping and navigation etc. This paper introduces a design of multirotor which can reconfigure its size in-flight i.e. inflight re-configurable system (IRCS).The size can be changed by decreasing or increasing its arm length, using Rack and Pinion Type Mechanism (RPTM). In this a quadrotor has considered,it's all four arm which have RPTM, are connected to a single high torque stepper motor which can control the length of arm based on vision decision. Camera connected to each arm will provide visual decision to reconfigure its shape and avoid collision or make accessible to constraint environment.The stability will be maintained by Adaptive PID Controllers (A-PID) and changes simultaneously based on its arm length. Feedback from stepper motor is linked to Autopilot Flight Control Board of System (AFCBS) which has ability to decide and give correct PID values to system to maintain level flight.