An unmanned aerial vehicle with a variable structure, as well as the actuators and sensors necessary for creating an optimal configuration and flight parameters, are considered. Membrane-type free-flow sensors, a sensor using a magnetic gap to monitor the load mass, and an optical laser sensor for detecting deformation of load-bearing elements were developed. A design with variable geometry and static instability for increased response time is proposed.
Zvonarev et al. (Mon,) studied this question.