  Cargo drones are designed to carry payloads with predefined shape, size,
and/or mass. This lack of flexibility requires a fleet of diverse drones
tailored to specific cargo dimensions. Here we propose a new reconfigurable
drone based on a modular design that adapts to different cargo shapes, sizes,
and mass. We also propose a method for the automatic generation of drone
configurations and suitable parameters for the flight controller. The parcel
becomes the drone's body to which several individual propulsion modules are
attached. We demonstrate the use of the reconfigurable hardware and the
accompanying software by transporting parcels of different mass and sizes
requiring various numbers and propulsion modules' positioning. The experiments
are conducted indoors (with a motion capture system) and outdoors (with an
RTK-GNSS sensor). The proposed design represents a cheaper and more versatile
alternative to the solutions involving several drones for parcel
transportation.
