MorphEUS: Morphable Omnidirectional Unmanned System
Ivan Bao, Jos\'e C. D\'iaz Pe\'on Gonz\'alez Pacheco, Atharva Navsalkar, Andrew Scheffer, Sashreek Shankar, Andrew Zhao, Hongyu Zhou, Vasileios Tzoumas

TL;DR
MorphEUS is a novel morphable omnidirectional drone that independently controls position and orientation, offering enhanced force reachability, resilience, and suitability for complex inspection tasks, supported by theoretical control guarantees and high-fidelity simulations.
Contribution
Introduction of MorphEUS, a morphable omnidirectional quadrotor with independent control of position and orientation, and a control pipeline with proven controllability and stability.
Findings
Higher and more uniform force/torque reachability compared to state-of-the-art OMAVs.
Resiliency to rotor or servo-motor failures.
Effective trajectory tracking demonstrated in high-fidelity simulations.
Abstract
Omnidirectional aerial vehicles (OMAVs) have opened up a wide range of possibilities for inspection, navigation, and manipulation applications using drones. In this paper, we introduce MorphEUS, a morphable co-axial quadrotor that can control position and orientation independently with high efficiency. It uses a paired servo motor mechanism for each rotor arm, capable of pointing the vectored-thrust in any arbitrary direction. As compared to the \textit{state-of-the-art} OMAVs, we achieve higher and more uniform force/torque reachability with a smaller footprint and minimum thrust cancellations. The overactuated nature of the system also results in resiliency to rotor or servo-motor failures. The capabilities of this quadrotor are particularly well-suited for contact-based infrastructure inspection and close-proximity imaging of complex geometries. In the accompanying control pipeline,…
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