Konstantinos Kyriakopoulos

An Omnidirectional Non-Tethered Aerial Prototype with Fixed Uni-Directional Thrusters

This paper presents the first worldwide functional prototype omnidirectional multi-rotor aerial vehicle with fixed uni-directional thrusters, with an on-board power source. An optimization algorithm computes the positions and orientations of the propellers in the body frame of the prototype to achie