Fig 2 - uploaded by Yao Su
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Coordinate systems of the over-actuated UAV platform. Regular quadcopters are connected to the mainframe by 2-DoF passive gimbal mechanism, serving as 3-DoF thrust generators. Each quadcopter generates downwash flow in thrust's opposite direction.

Coordinate systems of the over-actuated UAV platform. Regular quadcopters are connected to the mainframe by 2-DoF passive gimbal mechanism, serving as 3-DoF thrust generators. Each quadcopter generates downwash flow in thrust's opposite direction.

Source publication
Preprint
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Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing undesired downwash effects; downwash flows generated by thrust generators may counteract others due to close proximity, which significantly threatens the stability of the platform. The complexity...

Context in source publication

Context 1
... shown in Fig. 2, the radial distance between ith quadcopter's downwash flow and jth quadcopter's center is defined as O i,j , which be calculated ...

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