The PenduMAV: A Six-Input Omnidirectional MAV without Internal Forces - Design, Dynamics, and SE(3) Control

Ahmed Ali, Chiara Gabellieri, Quentin Sablé +1

We introduce the PenduMAV, an exactly actuated (6-input) omnidirectional multirotor that structurally eliminates internal forces at equilibria. The vehicle features one actively-ti…