The Voliro Omniorientational Hexacopter: An Agile and Maneuverable Tiltable-Rotor Aerial Vehicle
Mina Kamel,Sebastian Verling,Omar Elkhatib,Christian Sprecher,Paula Wulkop,Zachary Taylor,Roland Siegwart,Igor Gilitschenski +7 more
Reads0
Chats0
TLDR
Voliro is presented, a novel aerial platform that combines the advantages of existing multirotor systems with the agility of vehicles having omniorientational controllability, so that Voliro can fly in any direction while maintaining an arbitrary orientation.Abstract:
Extending the maneuverability of multirotors promises to yield a considerable increase in their scope of applications, such as carrying out more challenging inspection tasks and generating complex, uninterrupted movements of an attached camera. In this article, we address the promise of multirotor maneuverability by presenting Voliro, a novel aerial platform that combines the advantages of existing multirotor systems with the agility of vehicles having omniorientational controllability. In other words, Voliro can fly in any direction while maintaining an arbitrary orientation.read more
Citations
More filters
Journal ArticleDOI
The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly
TL;DR: This work proposes a novel, simpler, yet effective morphing design for quadrotors consisting of a frame with four independently rotating arms that fold around the main frame and demonstrates the first work showing stable flight without requiring any symmetry of the morphology.
Journal ArticleDOI
Past, Present, and Future of Aerial Robotic Manipulators
TL;DR: In this paper , the evolution and current trends in aerial robotic manipulation, comprising helicopters, conventional underactuated multirotors, and multidirectional thrust platforms equipped with a wide variety of robotic manipulators capable of physically interacting with the environment, are analyzed.
Journal ArticleDOI
Fully Actuated Multirotor UAVs: A Literature Review
TL;DR: This article collects the different UAV designs having fully actuated aerodynamic wrench generation proposed in the literature to date and includes a systematic derivation of the control-allocation matrix for all of the concepts.
Proceedings ArticleDOI
An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection
Karen Bodie,Maximilian Brunner,Michael Pantic,Stefan Walser,Patrick Pfändler,Ueli Angst,Roland Siegwart,Juan Nieto +7 more
TL;DR: An omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection, equipped with a rigidly mounted end-effector and an impedance controller with selective apparent inertia.
Journal ArticleDOI
Design of multirotor aerial vehicles: A taxonomy based on input allocation:
Mahmoud Hamandi,Federico Usai,Quentin Sable,Nicolas Staub,Nicolas Staub,Marco Tognon,Marco Tognon,Antonio Franchi,Antonio Franchi +8 more
TL;DR: In this paper, the effect of multi-rotor aerial vehicle designs on their abilities in terms of tasks and system properties is reviewed. And a general taxonomy is proposed to characterize and describe multirotor UAVs.
References
More filters
Proceedings ArticleDOI
Design and use paradigms for Gazebo, an open-source multi-robot simulator
Nathan Koenig,Andrew Howard +1 more
TL;DR: Gazebo is designed to fill this niche by creating a 3D dynamic multi-robot environment capable of recreating the complex worlds that would be encountered by the next generation of mobile robots.
Journal ArticleDOI
Control allocation—A survey
Tor Arne Johansen,Thor I. Fossen +1 more
TL;DR: The objective of the present paper is to survey control allocation algorithms, motivated by the rapidly growing range of applications that have expanded from the aerospace and maritime industries, where control allocation has its roots, to automotive, mechatronics, and other industries.
Proceedings ArticleDOI
PX4: A node-based multithreaded open source robotics framework for deeply embedded platforms
TL;DR: A novel, deeply embedded robotics middleware and programming environment that uses a multithreaded, publish-subscribe design pattern and provides a Unix-like software interface for micro controller applications, which is well suited for fast, high rate control tasks.
Journal ArticleDOI
Multi-UAV Cooperation and Control for Load Transportation and Deployment
TL;DR: An architecture to perform cooperative missions with a multi-UAV platform is presented and the interactions between UAVs are not only information exchanges but also physical couplings required to cooperate in the joint transportation of a single load.
Proceedings ArticleDOI
Border patrol and surveillance missions using multiple unmanned air vehicles
TL;DR: This paper discusses vehicle control requirements and maps them onto layered control architecture and the implementation of the layers is discussed and illustrated examples are provided.