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

@article{Allenspach2020DesignAO,
  title={Design and optimal control of a tiltrotor micro-aerial vehicle for efficient omnidirectional flight},
  author={Mike Allenspach and Karen Bodie and Maximilian Brunner and Luca Rinsoz and Zachary Taylor and Mina Kamel and Roland Y. Siegwart and Juan I. Nieto},
  journal={The International Journal of Robotics Research},
  year={2020},
  volume={39},
  pages={1305 - 1325}
}
Omnidirectional micro-aerial vehicles (MAVs) 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… 
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