Fully Actuated Multirotor UAVs: A Literature Review

Ramy Hashem; Jelmer Goerres; Ronald G. Aarts; Johan B.C. Engelen; Stefano Stramigioli

doi:10.1109/MRA.2019.2955964

Fully Actuated Multirotor UAVs: A Literature Review

Ramy Hashem^*, Jelmer Goerres, Ronald G. Aarts, Johan B.C. Engelen, Stefano Stramigioli

^*Corresponding author for this work

Research output: Contribution to journal › Article › Academic › peer-review

42 Citations (Scopus)

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Abstract

In the last decade, the aerial robotics community has witnessed an increased interest in fully actuated multirotor unmanned aerial vehicles (UAVs) that have more capabilities than conventional underactuated multirotors. This article collects the different UAV designs having fully actuated aerodynamic wrench generation proposed in the literature to date. The work includes a systematic derivation of the control-allocation matrix for all of the concepts as well as a discussion of the different quantitative criteria used for optimizing UAV designs.

Original language	English
Article number	8978486
Pages (from-to)	97-107
Number of pages	11
Journal	IEEE Robotics and Automation Magazine
Volume	27
Issue number	3
Early online date	3 Feb 2020
DOIs	https://doi.org/10.1109/MRA.2019.2955964
Publication status	Published - 3 Sep 2020

Keywords

Aerodynamics
Gravity
Propellers
Robots
Rotors
Transmission line matrix methods
Unmanned aerial vehicles

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10.1109/MRA.2019.2955964

10.1109_MRA.2019.2955964Final published version, 2.81 MBLicence: Taverne

Cite this

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title = "Fully Actuated Multirotor UAVs: A Literature Review",

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Fully Actuated Multirotor UAVs: A Literature Review

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Keywords

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