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The state-of-the-art works on deformable multirotor aerial robots have achieved the high ability in maneuvering, whereas there is no versatile aerial robot which can perform both deforming maneuvering and aerial manipulation yet. However, a novel multilinked aerial robot presented in our previous work, called DRAGON, has both potential owing to the serial-link structure. Therefore, an online motion planning method for such a mutlilinked aerial robot is necessary. In this paper, we first reveal the general s
