A lightweight framework for star-shaped tilting hexarotor UAVs selects cant angles via offline zero-moment force polytope look-up tables to improve computation speed and pose tracking in interaction tasks.
Fast- hex—a morphing hexarotor: design, mechanical implementation, control and experimental validation
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Force Polytope-Based Cant-Angle Selection for Tilting Hexarotor UAVs
A lightweight framework for star-shaped tilting hexarotor UAVs selects cant angles via offline zero-moment force polytope look-up tables to improve computation speed and pose tracking in interaction tasks.