  In this paper, a new under-actuated Bi-Quadcopter Unmanned Aerial Vehicle is
introduced. The proposed drone configuration can be controlled similar to a
Bicopter. The dynamics of the proposed Bi-Quadcopter is developed using the
Newton-Euler approach. Using the force decomposition technique, a mapping
between the control wrench and actuator inputs is developed. A nonlinear
position control is applied for the Bi-Quadcopter using the quaternion-based
cascaded attitude controller. The performance of the proposed UAV with the
control algorithm is verified through simulations. Finally, the actuator
failure scenarios were analyzed.
