# A Novel Drone Design Based on a Reconfigurable Unmanned Aerial Vehicle for Wildfire Management
## 1 Introduction
Complementing these studies, [PERSON], [PERSON], [PERSON], and [PERSON] [17] underscored the significance of CAx systems in reducing development times and fostering modern engineering education, particularly emphasizing the impact of parametric and 3D hybrid modelling on UAV innovation. Collectively, these works mark the transformative potential of CAx methodologies in the UAV industry, from conceptual design to final production. In response to the evolving demands across various domains, including those posed by wildfires, ongoing efforts have increasingly shifted towards the study and development of reconfigurable systems. The list encompasses field-programmable gate arrays [18], reconfigurable machine tools [19], morphing-wing UAVs [20], and reconfigurable modular space systems [21]. With the escalating global use of UAVs, the concept of reconfigurable UAVs has caught the attention. Currently available on the market are various types of multirotor UAVs that vary in configuration, mission type, dimensions, and materials utilized. Nevertheless, a majority of UAVs in today's market, characterized by a fixed payload capacity range and a set number of rotor arms, are highly specialized for specific task execution. As a result, the challenge of specialized tasks arises; numerous models tailored for different purposes must be developed and mass-produced to create a diverse range of UAVs. As a consequence of this, companies are actively investigating novel concepts for offline reconfiguration of UAVs, aiming to enhance their adaptability and performance in diverse operational scenarios. One of the most explored ideas involves connecting multiple rotors to facilitate the transportation of heavy loads, such as the drones produced by the Latvian firm Aerones. Aninteresting patent is referenced in [22], where the drone is composed of a central perforated circular frame without arms, with motors and propellers positioned in various holes to achieve various configurations. The proposed drone, however, is not modular and lacks arms. Patent [23] introduces a circular plate connected to an external ring via three sticks, allowing the positioning of rotors in a variable number but only in a predetermined order. Another patent [24] proposes a drone with three arms, each equipped with two rotors. This structure permits the inclination of the plane where the three arms are situated but exhibits limited flexibility. A comparable design is presented in patent [25], featuring a quadrotor structure that can be positioned at different angles. However, this structure also exhibits restricted flexibility. All the aforementioned technical solutions lack modular capabilities, and, in particular, they do not enable flexible use of the drone. More specifically, the described technical solutions share the major drawback of not allowing configurations beyond those initially provided. Aside from the previously mentioned patents, significant advancements in drone technology involve the capability to change arms. [PERSON] et al. [26], proposed a drone design concept capable of switching between a quadcopter and a hexacopter. While that design allows users to transform the UAV without adjusting the positions of the four rotor arms, it is restricted to configurations with only four or six motors. Additionally, the UAV's payload capacity is limited to 600 g, limiting its potential mission capabilities. To achieve adaptability, the UAV incorporates two distinct flight controllers for each configuration, resulting in the absence of automation during the transition between configurations. Another noteworthy approach is the drone proposed by [PERSON] et al. (2016) [27; 28]. This modular drone features a universal platform that supports 12 different configurations. However, changing the UAV's configuration requires disassembling all the parts, and the user must then reassemble them.