Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs
This addresses the need for robust and efficient omnidirectional MAVs for applications like aerial interaction and observation, representing an incremental advancement by integrating previously separate capabilities.
The paper tackles the problem of combining complete pose omnidirectionality with high hover efficiency in micro aerial vehicles (MAVs), presenting VoliroX, a novel system that can exert a wrench in any orientation while maintaining efficient flight configurations, with flight experiments verifying its capabilities.
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.