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.
CITATION STYLE
Bodie, K., Taylor, Z., Kamel, M., & Siegwart, R. (2020). Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs. In Springer Proceedings in Advanced Robotics (Vol. 11, pp. 85–95). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-030-33950-0_8
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