Quadcopters or drones evolved in two principal formats, being an ‘X’ configuration and an an ‘H’ configuration, whose forward direction is perpendicular to the appearance of the letter. With racing drones the two are combined at times to form an elongated centre-body that supports cantilevered arms which are canted fore and aft so as to approximate the ‘X’ shape. Nonetheless neither of these is necessarily the ideal configuration once the structures are scaled up in support of human carriage.
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Hilton, Colin, "Drone Adapted to Human Carriage", Technical Disclosure Commons, (August 30, 2021)