Duo Zhao

Optimal Time Trajectory Generation and Tracking Control for Over-Actuated Multirotors With Large-Angle Maneuvering Capability

This paper presents an optimal time trajectory generation method for over-actuated multirotors. Different from underactuated multi-rotors that can only track a 4-D trajectory, over-actuated multi-rotors have the ability to track a 6-D trajectory. The proposed method can generate a 3-degree of freedo