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dc.contributor.author
Allenspach, Mike
dc.contributor.author
Bodie, Karen
dc.contributor.author
Brunner, Maximilian
dc.contributor.author
Rinsoz, Luca
dc.contributor.author
Taylor, Zachary
dc.contributor.author
Kamel, Mina
dc.contributor.author
Siegwart, Roland
dc.contributor.author
Nieto, Juan
dc.date.accessioned
2020-10-16T11:54:54Z
dc.date.available
2020-08-23T02:34:16Z
dc.date.available
2020-09-03T12:49:29Z
dc.date.available
2020-10-16T11:54:54Z
dc.date.issued
2020-09
dc.identifier.issn
0278-3649
dc.identifier.issn
1741-3176
dc.identifier.other
10.1177/0278364920943654
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/432242
dc.description.abstract
Omnidirectional micro-aerial vehicles (MAVs) are a growing field of research, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust system that combines the two has not been demonstrated to date. This paper presents the design and optimal control of a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is motivated by the result of a morphology design optimization. A six-degree-of-freedom optimal controller is derived, with an actuator allocation approach that implements task prioritization, and is robust to singularities. Flight experiments demonstrate and verify the system's capabilities.
en_US
dc.language.iso
en
en_US
dc.publisher
Sage
en_US
dc.subject
Aerial robotics
en_US
dc.subject
optimal control
en_US
dc.subject
omnidirectional MAV
en_US
dc.subject
tiltrotor
en_US
dc.subject
design optimization
en_US
dc.title
Design and optimal control of a tiltrotor micro-aerial vehicle for efficient omnidirectional flight
en_US
dc.type
Journal Article
dc.date.published
2020-08-06
ethz.journal.title
The International Journal of Robotics Research
ethz.journal.volume
39
en_US
ethz.journal.issue
10-11
en_US
ethz.journal.abbreviated
Int. J. Rob. Res.
ethz.pages.start
1305
en_US
ethz.pages.end
1325
en_US
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.place
Thousand Oaks, CA
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
ethz.date.deposited
2020-08-23T02:34:21Z
ethz.source
WOS
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2020-10-16T11:55:06Z
ethz.rosetta.lastUpdated
2021-02-15T18:25:31Z
ethz.rosetta.versionExported
true
ethz.COinS
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