Here is a single-actuator drone that can be completely rolled up. The F-SAM from AIR Lab comes with a foldable semi-rigid wing. Its wing relies on centrifugal forces to become straightened during flight. As the researchers explain, the entire drone can be folded into a pocketable form factor.
This drone weighs 69 grams and has max lateral speed of 2.37m/s. It can fly for about 16 minutes. The above video shows it in action.