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The development of multirotor unmanned aerial vehicles (UAVs) has enabled a vast number of applications. Since further market growth is expected in the future it is important that modern engineers be familiar with these types of mechatronic systems. In this paper, a comprehensive mathematical description of a multirotor UAV, with various configuration parameters, is given. A modular design approach for the development of an educational multirotor platform is proposed. Through the stages of computer-aided design and rapid prototyping an experimental modular
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