Relaxed hover solutions for multicopters: Application to algorithmic redundancy and novel vehicles

This paper presents a relaxed definition of hover for multicopters with propellers pointing in a common direction. These solutions are found by requiring that the multicopter remain substantially in one position, and that the solutions be constant when expressed in a coordinate system attached to th...

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Veröffentlicht in:	The International journal of robotics research 2016-07, Vol.35 (8), p.873-889
Hauptverfasser:	Mueller, Mark W., D’Andrea, Raffaello
Format:	Artikel
Sprache:	eng
Schlagworte:	Aerodynamics Algorithms Angular velocity Center of mass Computer simulation Constants Controllability Design engineering Failure Gravitation Offsets Propellers Redundancy Vehicles
Online-Zugang:	Volltext
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