ICUAS 2020 Paper Abstract


Paper ThA4.3

Hamandi, Mahmoud (LAAS-CNRS), sawant, Kapil (IIT), Tognon, Marco (ETH Zurich), Franchi, Antonio (University of Twente)

Omni-Plus-Seven (O+7): An Omnidirectional Aerial Prototype with a Minimal Number of Uni-Directional Thrusters

Scheduled for presentation during the Regular Session "Control Architectures IV" (ThA4), Thursday, September 3, 2020, 10:40−11:00, Naousa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on September 25, 2020

Keywords Control Architectures, UAS Applications, UAS Testbeds


The aim of this paper is to present the design of a novel omnidirectional Unmanned Aerial Vehicle (UAV) with seven uni-directional thrusters, called O+7. The paper formally defines the O+ design for a generic number of propellers and presents its necessary conditions; then it illustrates a method to optimize the placement and orientation of the platform's propellers to achieve a balanced O+ design. The paper then details the choice of the parameters of the O+7 UAV, and highlights the required mechanical and electrical components. The resultant platform is tested in simulation, before being implemented as a prototype. The prototype is firstly static-bench tested to match its nominal and physical models, followed by hovering tests in multiple orientations. The presented prototype shows the ability to fly horizontally, upside down and at a tilted angle.



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