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.


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    Titel :

    Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Xiao, Jing (Herausgeber:in) / Kröger, Torsten (Herausgeber:in) / Khatib, Oussama (Herausgeber:in) / Bodie, Karen (Autor:in) / Taylor, Zachary (Autor:in) / Kamel, Mina (Autor:in) / Siegwart, Roland (Autor:in)

    Kongress:

    International Symposium on Experimental Robotics ; 2018 ; Buenos Aires, Argentina November 05, 2018 - November 08, 2018



    Erscheinungsdatum :

    2020-01-23


    Format / Umfang :

    11 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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