  Multirotors can be effectively applied to various tasks, such as
transportation, investigation, exploration, and lifesaving, depending on the
type of payload. However, due to the nature of multirotors, the payload loaded
on the multirotor is limited in its position and weight, which presents a major
disadvantage when the multirotor is used in various fields. In this paper, we
propose a novel method that greatly improves the restrictions on payload
position and weight using a morphing quadrotor system. Our method can estimate
the drone's weight, center of gravity position, and inertia tensor in
real-time, which change depending on payload, and determine the optimal
morphology for efficient and stable flight. An adaptive control method that can
reflect the change in flight dynamics by payload and morphing is also
presented. Experiments were conducted to confirm that the proposed morphing
quadrotor improves the stability and efficiency in various situations of
transporting payloads compared with the conventional quadrotor systems.
