Gemini: A Compact Yet Efficient Bi-Copter UAV for Indoor Applications

Quad-copters are the premier platform for data collection tasks, yet their ability to collect data in indoor narrow spaces is severely compromised due to their huge size when carrying heavy sensors. In this letter, we study a bi-copter UAV configuration that has similar levels of versatility and improves the compactness or efficiency at the same time. Such an arrangement allows for the preservation of propeller size, meaning that we can effectively reduce the horizontal width of the UAV while still maintains the same payload capacity. Furthermore, pitch, roll and yaw control can also be achieved through mechanically simple means as well, increasing reliability and precision. We also found that the Gemini platform is the most power-efficient yet practical solution for indoor applications among all the twelve common UAV configurations. This letter will detail the entire process of creating the platform from picking the ideal propeller through aerodynamic analysis, system design, optimization, implementation, control, and real flight tests that demonstrate its ability to function seamlessly.