Fully Actuated Multirotor UAVs: A Literature Review

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

doi:10.1109/MRA.2019.2955964

Fully Actuated Multirotor UAVs: A Literature Review

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

^*Corresponding author for this work

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

130 Scopus citations

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
DOIs	https://doi.org/10.1109/MRA.2019.2955964
State	Published - Sep 2020
Externally published	Yes

Bibliographical note

Publisher Copyright:
© 1994-2011 IEEE.

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/MRA.2019.2955964

Cite this

@article{a6013ea317f244339dfdbf5b1c399dbb,

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

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.",

author = "Ramy Rashad and Jelmer Goerres and Ronald Aarts and Engelen, \{Johan B.C.\} and Stefano Stramigioli",

note = "Publisher Copyright: {\textcopyright} 1994-2011 IEEE.",

year = "2020",

month = sep,

doi = "10.1109/MRA.2019.2955964",

language = "English",

volume = "27",

pages = "97--107",

journal = "IEEE Robotics and Automation Magazine",

issn = "1070-9932",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "3",

}

TY - JOUR

T1 - Fully Actuated Multirotor UAVs

T2 - A Literature Review

AU - Rashad, Ramy

AU - Goerres, Jelmer

AU - Aarts, Ronald

AU - Engelen, Johan B.C.

AU - Stramigioli, Stefano

PY - 2020/9

Y1 - 2020/9

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/85081289217

U2 - 10.1109/MRA.2019.2955964

DO - 10.1109/MRA.2019.2955964

M3 - Article

AN - SCOPUS:85081289217

SN - 1070-9932

VL - 27

SP - 97

EP - 107

JO - IEEE Robotics and Automation Magazine

JF - IEEE Robotics and Automation Magazine

IS - 3

M1 - 8978486

ER -

Fully Actuated Multirotor UAVs: A Literature Review

Abstract

Bibliographical note

ASJC Scopus subject areas

Access to Document

Fingerprint

Cite this