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 journalArticleAcademicpeer-review

42 Citations (Scopus)
365 Downloads (Pure)


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 languageEnglish
Article number8978486
Pages (from-to)97-107
Number of pages11
JournalIEEE Robotics and Automation Magazine
Issue number3
Early online date3 Feb 2020
Publication statusPublished - 3 Sep 2020


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


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