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The maximum useful weights of the octocopter, hexacopter, and quadcopter were 76.5%, 53.1%, and 29.7% that of the decacopter, respectively. A dynamic simulation model is implemented and used to compare the various configurations. The controls for each of the configurations are identified, and for the configurations with control redundancy, the power optimal controls are presented. This paper presents a concept of a multicopter that can be reconfigured between a quadcopter, hexacopter, octocopter, and decacopter.
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