BioTetra: A Bioinspired MultiRotor Aerial Vehicle Applications of multirotor aerial robots are progressively expanding into various industries. However, due to its actuators configuration, standard multirotor vehicles flexibility is greatly limited. In this manuscripts, we proposed a bioinspired multirotor aerial vehicle, called BioTetra, a class of aircraft capable of vectorflying and omnidirectional movement. The BioTetra vehicle, which finds inspiration in the configuration layout of the organic molecules(CH 4 ), exploits its stability of the regular tetrahedral structure. The new abilities of the BioTetra vehicle not only improve flight efficiency, but also expand the reachable set. First, the mechanical design with regular tetrahedron configuration layout is introduced. Then, a quaternionbased attitude controller is designed to track a full pose trajectory in space. The virtual simulation of the aerial vehicle verifies the feasibility of the new structure and the effectiveness of the control strategy.

Control of Flying Robotic Insects: A Perspective and Unifying Approach We discuss the problem of designing and implementing controllers for insectscale flappingwing micro air vehicles (FWMAVs), from a unifying perspective and employing two different experimental platforms; namely, a Harvard RoboBeelike twowinged robot and the fourwinged USC Bee. Through experiments, we demonstrate that a method that employs quaternion coordinates for attitude control, developed to control quadrotors, can be applied to drive both robotic insects considered in this work. The proposed notion that a generic strategy can be used to control several types of artificial insects with some common characteristics was preliminarily tested and validated using a set of experiments, which include position and attitudecontrolled flights. We believe that the presented results are interesting and valuable from both the research and educational perspectives.