6 accepted papers
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
Autonomous aerial vehicles play a critical role in search and rescue operations, where navigation through cluttered and confined environments is essential. To this end, this paper presents a novel trajectory planning framework for omnidirectional drones that dynamically adjusts tracking velocity bas
This paper presents a novel optimization-based full-pose trajectory tracking method to control overactuated multi-rotor aerial vehicles with limited actuation abilities. The proposed method allocates feasible control inputs to track a reference trajectory, while ensuring the tracking of the referenc
This letter presents a novel open source design of the Y-shaped hexarotor Unammend Aerial Vehicle (UAV), and proves both in theory and real experiments its robustness to the failure of any of its propellers. An intuitive geometrical interpretation of UAV static hovering ability is presented, through
This letter shows for the first time why it is important and how to optimize the gains of a position controller on board of a fully-actuated aerial vehicle with bounded lateral force, via an auto-tuning approach. In such vehicles, most of the control authority is expressed along a principal thrust d
In this paper we propose to control a quadrotor through direct acceleration feedback. The proposed method, while simple in form, alleviates the need for accurate estimation of platform parameters such as mass and propeller effectiveness. In order to use efficaciously the noisy acceleration measureme…