An early experimental VTOL aircraft, the Bell X-22
https://en.wikipedia.org/wiki/Bell_X-22
was a “quad copter” I suppose.
It had many problems, starting with the fact that it predates anything you’d call computers, hence had no sophisticated automatic controls.
But the biggest problem was a phenomenon called “recirculation”, where airflow near the ground was deflected back around into the ducts, seriously reducing lift.
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