Some friends of mine did exactly this as a research project last year.They did some testing at NASA Langley using some of their low pressure testing facilities.
It should be possible in a few years for sure and it may even be possible now. That being said, it's quite possibly the least efficient way to do anything anywhere, especially so on Mars. The rotor blades have to be enormous in order to generate enough lift. They also made some assumptions about materials used that aren't realistic right now, 5 years from now, probably, but not right now.