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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2505.18270 |
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| _version_ | 1866915303150059520 |
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| author | Bao, Ivan Pacheco, José C. Díaz Peón González Navsalkar, Atharva Scheffer, Andrew Shankar, Sashreek Zhao, Andrew Zhou, Hongyu Tzoumas, Vasileios |
| author_facet | Bao, Ivan Pacheco, José C. Díaz Peón González Navsalkar, Atharva Scheffer, Andrew Shankar, Sashreek Zhao, Andrew Zhou, Hongyu Tzoumas, Vasileios |
| contents | Omnidirectional aerial vehicles (OMAVs) have opened up a wide range of possibilities for inspection, navigation, and manipulation applications using drones. In this paper, we introduce MorphEUS, a morphable co-axial quadrotor that can control position and orientation independently with high efficiency. It uses a paired servo motor mechanism for each rotor arm, capable of pointing the vectored-thrust in any arbitrary direction. As compared to the \textit{state-of-the-art} OMAVs, we achieve higher and more uniform force/torque reachability with a smaller footprint and minimum thrust cancellations. The overactuated nature of the system also results in resiliency to rotor or servo-motor failures. The capabilities of this quadrotor are particularly well-suited for contact-based infrastructure inspection and close-proximity imaging of complex geometries. In the accompanying control pipeline, we present theoretical results for full controllability, almost-everywhere exponential stability, and thrust-energy optimality. We evaluate our design and controller on high-fidelity simulations showcasing the trajectory-tracking capabilities of the vehicle during various tasks. Supplementary details and experimental videos are available on the project webpage. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_18270 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | MorphEUS: Morphable Omnidirectional Unmanned System Bao, Ivan Pacheco, José C. Díaz Peón González Navsalkar, Atharva Scheffer, Andrew Shankar, Sashreek Zhao, Andrew Zhou, Hongyu Tzoumas, Vasileios Robotics Systems and Control Omnidirectional aerial vehicles (OMAVs) have opened up a wide range of possibilities for inspection, navigation, and manipulation applications using drones. In this paper, we introduce MorphEUS, a morphable co-axial quadrotor that can control position and orientation independently with high efficiency. It uses a paired servo motor mechanism for each rotor arm, capable of pointing the vectored-thrust in any arbitrary direction. As compared to the \textit{state-of-the-art} OMAVs, we achieve higher and more uniform force/torque reachability with a smaller footprint and minimum thrust cancellations. The overactuated nature of the system also results in resiliency to rotor or servo-motor failures. The capabilities of this quadrotor are particularly well-suited for contact-based infrastructure inspection and close-proximity imaging of complex geometries. In the accompanying control pipeline, we present theoretical results for full controllability, almost-everywhere exponential stability, and thrust-energy optimality. We evaluate our design and controller on high-fidelity simulations showcasing the trajectory-tracking capabilities of the vehicle during various tasks. Supplementary details and experimental videos are available on the project webpage. |
| title | MorphEUS: Morphable Omnidirectional Unmanned System |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2505.18270 |