@article{brescianini2018omnicopter,
title = "An Omni-Directional Multirotor Vehicle",
journal = "Mechatronics",
volume = "55",
pages = "76 - 93",
year = "2018",
issn = "0957-4158",
doi = "https://doi.org/10.1016/j.mechatronics.2018.08.005",
url = "http://www.sciencedirect.com/science/article/pii/S0957415818301314",
author = "Dario Brescianini and Raffaello D’Andrea",
keywords = "Aerial robotics, Unmanned aerial vehicles, Mechanics, Design and control",
abstract = "In this paper we present the design, modelling and control of an omni-directional multirotor vehicle, i.e. a fully-actuated vehicle that can hover at any attitude and accelerate in any direction. Based on a static force and torque analysis for generic rotor configurations, an octorotor configuration is derived that maximizes the vehicle’s agility while rendering its characteristics almost rotationally invariant. A prototype vehicle with the derived rotor configuration is built using reversible fixed-pitch rotors that can generate positive and negative thrust, enabling the vehicle to independently control its thrust and torque in all three dimensions. A control scheme that allows for simultaneously tracking a desired position and attitude trajectory is introduced. Experimental results demonstrate the feasibility of the vehicle design and control strategy."
}