Systematizing Rotor-Based Morphable Unmanned Aerial-Aquatic Vehicles Design: From Theory to Prototype

In this paper, we introduce a comprehensive workflow for the design of rotor-based morphable Unmanned AerialAquatic Vehicles (UAAVs), drawing upon established design principles from fixed-wing aircraft engineering. A key feature of this workflow is the incorporation of Sequential Quadratic Programming (SQP) to regulate the spatial relationship between Center of Gravity (CoG) and Center of Buoyancy (CoB). This optimization enhances the underwater safety of UAAVs. By the field test of the constructed two prototypes, each representing a distinct type of morphable UAAV, the effectiveness of the proposed workflow is validated.