TransforMARS: Fault-Tolerant Self-Reconfiguration for Arbitrarily Shaped Modular Aerial Robot Systems
TransforMARS is a framework for modular aerial robots (MARS) that can change their shape automatically when some rotors or units fail. It works by finding ways to move faulty parts and reassemble the robot into a new, stable configuration. This method allows MARS to handle multiple faults and complex, irregular shapes while keeping them flying safely.