Understanding the omnidirectional capability of a generic multi-rotor aerial vehicle

The aim of this work is to present the necessary conditions for the design of an omnidirectional Multi-Rotor Aerial Vehicle (MRAV), while taking into consideration its geometry, weight, and actuation limits. The work formally defines these conditions and presents numerical metrics that reflect the satisfaction of the omnidirectional property. These metrics are then applied to assess the omnidirectional property of “Omni-plus-seven ”, i.e., an omnidirectional MRAV consisting of a hepta-rotor with uni-directional thrusters [1]. Finally the work shows the use of such metrics in the design of a new platform with similar geometry and modified weight and actuators.