Control system for a configurable unmanned aerial vehicle system

A non-transitory storage device that includes machine-readable instructions that, when executed by one or more processors, cause the one or more processors to perform operations, comprising:

• receiving a desired position for a plurality of connected unmanned arial vehicles (UAVs) arranged in a single plane;
• determining a desired acceleration for the plurality of connected UAVs;
• for each UAV of the plurality of connected UAVs, determining a desired thrust force and a desired angle required to reach the desired position;
• determining a global desired angle for each UAV of the plurality of connected UAVs;
• determining a global actual angle for each UAV of the plurality of connected UAVs from an individual desired angles;
• determining an optimal thrust moment for each UAV of the plurality of connected UAVs;
• and
• sending the optimal thrust moment to each UAV of the plurality of connected UAVs.

An unmanned vehicle system, comprising:

• a planar structure, the planar structure further comprising:
• a plurality of cells, each of the plurality of cells enclosing a respective unmanned arial vehicle (UAV) arranged in a single plane;
• a first cell linkage member fixedly coupled to a first cell;
• a second cell linkage member movably coupled to a second cell;
• a cell pivot joint to pivotally couple the first and second cell linkage members;
• wherein the first and second cell linkage members and the cell pivot joint provide controllable movement of the first and second cells with respect to one another and within the single plane;
• and
• controller circuitry, the controller circuitry configured to:
• generate a target upward force generated by each respective UAV;
• generate a target roll of each respective UAV;
• generate a target pitch of each respective UAV;
• and
• generate a target position of the first cell with respect to the second cell within the single plane.