  Morphing quadrotors with four external actuators can adapt to different
restricted scenarios by changing their geometric structure. However, previous
works mainly focus on the improvements in structures and controllers, and
existing planning algorithms don't consider the morphological modifications,
which leads to safety and dynamic feasibility issues. In this paper, we propose
a unified planning and control framework for morphing quadrotors to deform
autonomously and efficiently. The framework consists of a milliseconds-level
spatial-temporal trajectory optimizer that takes into account the morphological
modifications of quadrotors. The optimizer can generate full-body safety
trajectories including position and attitude. Additionally, it incorporates a
nonlinear attitude controller that accounts for aerodynamic drag and
dynamically adjusts dynamic parameters such as the inertia tensor and Center of
Gravity. The controller can also online compute the thrust coefficient during
morphing. Benchmark experiments compared with existing methods validate the
robustness of the proposed controller. Extensive simulations and real-world
experiments are performed to demonstrate the effectiveness of the proposed
framework.
