The flight and hovering of a balloon-multicopter with a special assembly scheme under lateral wind disturbance

This article deals with ballooncopters that have a special solution to assemble a multicopter with the balloon and payload as a scheme of two seriesly hung pendulums. The assembly scheme many times reduces the necessary power of the rotors when needed to tilt the thrust vector. This new assembly scheme requires balance and stability considerations when flying in windy conditions.