Reliability analysis of multicopter configurations based on controllability theory

Flight reliability of multicopters is attracting more and more attention these years. There exists a potential risk to civil safety if a multicopter crashes. Since multicopters with various configurations have appeared in the market, users may wonder which kind of configuration has a better reliability in the presence of motor faults or failures. A multicopter's reliability is highly related to its controllability. Based on controllability theory, reliability analyses of different configurations are conducted and the optimal configuration is given.