Design and optimal control of a tiltrotor micro aerial vehicle for efficient omnidirectional flight

This video shows content related to our IJRR paper "Design and optimal control of a tiltrotor micro aerial vehicle for efficient omnidirectional flight".

Link to paper: https://doi.org/10.1177/0278364920943654

Abstract - Omnidirectional micro aerial vehicles are a growing field of research, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust system that combines the two has not been demonstrated to date. This paper presents the design and optimal control of a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is motivated by the result of a morphology design optimization. A six degrees of freedom optimal controller is derived, with an actuator allocation approach that implements task prioritization, and is robust to singularities. Flight experiments demonstrate and verify the system's capabilities.

Citation:
@article{doi:10.1177/0278364920943654,
author = {Mike Allenspach and Karen Bodie and Maximilian Brunner and Luca Rinsoz and Zachary Taylor and Mina Kamel and Roland Siegwart and Juan Nieto},
title ={Design and optimal control of a tiltrotor micro-aerial vehicle for efficient omnidirectional flight},
journal = {The International Journal of Robotics Research},
pages = {0278364920943654},
year = {2020},
doi = {10.1177/0278364920943654},
URL = {https://doi.org/10.1177/0278364920943654}
}

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