This paper reviews the effect of multirotor aerial vehicle designs on their abilities in terms of
tasks and system properties. We propose a general taxonomy to characterize and describe …

A class of abstract aerial robotic systems is introduced, the laterally bounded force vehicles,
in which most of the control authority is expressed along a principal thrust direction, while …

This letter presents a theoretical study on omnidirectional aerial vehicles with body-frame
fixed unidirectional thrusters. Omniplus multirotor designs are defined as the ones that allow …

This article addresses modeling and tracking control for a tilting quadcopter in the presence
of parametric uncertainties and external disturbances. We propose the novel concept of a …

The goal of this paper is to present a novel configuration for a three-rotor mini unmanned
aerial vehicle (UAV). The proposed design incorporates advantageous structural features …

The aim of this paper is to present the design of a novel omnidirectional Unmanned Aerial
Vehicle (UAV) with seven unidirectional thrusters, called O+ 7. The paper formally defines …

In this paper, the mechanical and aerodynamic design, carbon composite production,
hierarchical control system design and vertical flight tests of a new unmanned aerial vehicle …

In this paper, a novel omnidirectional unmanned flying vehicle (UAV) is presented. Staring
from the well known quadrotor model, some features has been introduced in order to create …

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 …

This paper addresses the tracking control problem of the tilting quadcopter with unknown
nonlinearities. A novel tilting quadcopter conception is proposed with a fully actuated …