2020
DOI: 10.1007/978-3-030-33950-0_8
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Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs

Abstract: Omnidirectional MAVs are a growing field, 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 VoliroX: a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is presented, and a 6 DOF geometr… Show more

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Cited by 24 publications
(34 citation statements)
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“…The second type, which we refer to as a kinematic singularity, occurs when rotor thrusts cannot contribute to the desired body wrench w B , which leads to tilt angles not being uniquely defined. This condition has been described by Bodie et al (2018).…”
Section: Singularity Cases For Tiltrotor Mavsmentioning
confidence: 95%
See 4 more Smart Citations
“…The second type, which we refer to as a kinematic singularity, occurs when rotor thrusts cannot contribute to the desired body wrench w B , which leads to tilt angles not being uniquely defined. This condition has been described by Bodie et al (2018).…”
Section: Singularity Cases For Tiltrotor Mavsmentioning
confidence: 95%
“…As previously identified by Bodie et al (2018), an OMAV can encounter two types of singularity cases that result from the allocation model. The first type occurs when the tilt angles a i are aligned in a way that leads to a rank reduction of the instantaneous allocation matrix A a .…”
Section: Singularity Cases For Tiltrotor Mavsmentioning
confidence: 97%
See 3 more Smart Citations