Mechatronic Design of a Delivery Octarotor Drone

Nikolaos Evangeliou, Nikolaos Giakoumidis, Dimitirs Chaikalis, Athanasios Tsoukalas, Halil Utku Unlu, Daitao Xing, Anthony Tzes

Research output: Contribution to journalArticlepeer-review


This article describes the mechatronic design of a delivery octarotor drone equipped with safety features including protective bumpers for its propellers, parachute, and retractable gear. A GNSS-RTK unit provides extensive pose-refinement for trajectory tracking, while an RGBDepth Camera provides distance measurements from any present obstacles. A deep learning algorithm classifies any objects into certain categories (i.e., balloons, drones) followed by a trajectory avoidance algorithm. An onboard computer handles these sensor measurements and communicates with the autopilot for adjusting the trajectory. At the same time, it provides HD-live video feed to the base station and runs any onboard ROS-services. The resulting drone can safely land within a circular area of radius 1.5 m, while flying over, under and around obstacles or buildings.

Original languageEnglish (US)
Pages (from-to)351-356
Number of pages6
JournalInternational Journal of Mechanical Engineering and Robotics Research
Issue number5
StatePublished - May 2022


  • Delivery drone
  • Drone safety features
  • Obstacle classification

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence


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