Optimal configurations for regular-chassis fully-actuated multirotors reduce to N-5 disconnected 1D topological branches corresponding to star polygons {N/q}.
In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
2 Pith papers cite this work. Polarity classification is still indexing.
2
Pith papers citing it
citation-role summary
background 1
citation-polarity summary
fields
cs.RO 2verdicts
UNVERDICTED 2roles
background 1polarities
support 1representative citing papers
On a fully actuated hexarotor, sensor-based INDI outperforms model-based geometric NDI under mismatches, gusts, and sensor degradation with lower position errors, but NDI tracks attitude better at reduced control rates, providing the first experimental full-pose INDI validation with decoupled axes.
citing papers explorer
-
The N-5 Scaling Law: Topological Dimensionality Reduction in the Optimal Design of Fully-actuated Multirotors
Optimal configurations for regular-chassis fully-actuated multirotors reduce to N-5 disconnected 1D topological branches corresponding to star polygons {N/q}.
-
Control of Fully Actuated Aerial Vehicles: A Comparison of Model-based and Sensor-based Dynamic Inversion
On a fully actuated hexarotor, sensor-based INDI outperforms model-based geometric NDI under mismatches, gusts, and sensor degradation with lower position errors, but NDI tracks attitude better at reduced control rates, providing the first experimental full-pose INDI validation with decoupled axes.