Fully-actuated Hexarotor Aerial Robot Platform

Image This video shows our work on the design and control of a hexarotor fully-actuated hexarotor platform

See [1] for the paper describing the method used in the following video.
A related work on a more advanced control and design can be also found here [2].


  1. S. Rajappa, Ryll, M., Bülthoff, H. H., and Franchi, A., Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 4006-4013.
  2. M. Ryll, Bicego, D., and Franchi, A., Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 1689-1694.