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Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs

Conference paper
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 11)

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 geometric control that is robust to singularities. Flight experiments further demonstrate and verify its capabilities.

Keywords

Overactuated Omnidirectional MAV Geometric control 

Supplementary material

Supplementary material 1 (mp4 101927 KB)

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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Autonomous Systems LabETH ZürichZürichSwitzerland

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