Mariam Alshamsi

Rapid and precise intervention in disaster and medical-aid scenarios demands aerial platforms that can both survey and physically interact with their environment. This study presents the design, fabrication, modeling, and experimental validation of a one-piece, 3D-printed quadcopter with an integrated six-degree-of-freedom aerial manipulator robotic arm tailored for emergency response. First, we introduce an ‘X’-configured multi-rotor frame printed in PLA+ and optimized via variable infill densities and lattice cutouts to achieve a high strength-to-weight ratio and monolithic structural integrity. The robotic arm, driven by high-torque servos and controlled through an Arduino-Pixhawk interface, enables precise grasping and release of payloads up to 500 g. Next, we derive a comprehensive nonlinear dynamic model and implement an Extended Kalman Filter-based sensor-fusion scheme that merges Inertial Measurement Unit, barometer, magnetometer, and Global Positioning System data to ensure robust state estimation under real-world disturbances. Control algorithms, including PID loops for attitude control and admittance control for compliant arm interaction, were tuned through hardware-in-the-loop simulations. Finally, we conducted a battery of outdoor flight tests across spatially distributed way-points at varying altitudes and times of day, followed by a proof-of-concept medical-kit delivery. The system consistently maintained position accuracy within 0.2 m, achieved stable flight for 15 min under 5 m/s wind gusts, and executed payload pick-and-place with a 98% success rate. Our results demonstrate that integrating a lightweight, monolithic frame with advanced sensor fusion and control enables reliable, mission-capable aerial manipulation. This platform offers a scalable blueprint for next-generation emergency drones, bridging the gap between remote sensing and direct physical intervention.