Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs

TL;DR

This paper introduces VoliroX, an innovative omnidirectional MAV that combines full pose omnidirectionality with high hover efficiency, supported by a robust control system and verified through flight experiments.

Contribution

The paper presents a novel overactuated MAV design, VoliroX, capable of exerting a wrench in any orientation with efficient flight, and introduces a robust 6 DOF geometric control.

Findings

Successfully demonstrated full pose omnidirectionality in flight

Achieved high hover efficiency in all orientations

Validated control robustness through flight experiments

Abstract

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.