A six-arm drone with octahedral geometry and rotatable arms demonstrates low tracking errors and a theoretical efficiency advantage across all orientations, using an SQP-based control allocation.
Design, modeling and control of an omni-directional aerial vehicle,
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MOMAV: A highly symmetrical fully-actuated multirotor drone using optimizing control allocation
A six-arm drone with octahedral geometry and rotatable arms demonstrates low tracking errors and a theoretical efficiency advantage across all orientations, using an SQP-based control allocation.