Force-Moment Decoupling and Rotor-Failure Robustness for Star-Shaped Generically-Tilted Multi-Rotors

G. Michieletto, A. Cenedese, A. Franchi

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

2 Citations (Scopus)


Aerial robotics is increasingly becoming an attractive field of research thanks to the peculiar mixture of theoretical issues to be solved and technological challenges to be faced. In particular, recent developments have seen the multiplication of multi-rotor platforms that aim at improving the maneuverability of classical quadrotors in standard and harsh flying conditions, thus opening the field to comprehensive studies over the structural multi-rotor properties of actuation, decoupling, and robustness, which strongly depend on the mechanical configuration of the systems. This work collocates along this line of research by considering star-shaped generically-tilted multi-rotors (SGTMs), namely platforms with more than four possibly tilted propellers (along two tilting orthogonal axes). For these platforms, we investigate how the structural choices over the number of propellers and the tilting angles affect the force-moment decoupling features and, by recalling the robustness definition that refers to the hovering capabilities of the platform, we provide a robustness analysis and an hoverability assessment for SGTMs having five to eight actuators against the loss of one and two propellers.
Original languageEnglish
Title of host publication2019 IEEE 58th Conference on Decision and Control (CDC)
Place of PublicationNice, France
Number of pages1
ISBN (Electronic)978-1-7281-1398-2
ISBN (Print)978-1-7281-1399-9
Publication statusPublished - 1 Dec 2019
Externally publishedYes
Event58th IEEE Conference on Decision and Control, CDC 2019 - Nice Acropolis, Nice, France
Duration: 11 Dec 201913 Dec 2019
Conference number: 58


Conference58th IEEE Conference on Decision and Control, CDC 2019
Abbreviated titleCDC 2019
Internet address


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