This video shows the modeling and control of a new hexarotor concept named FAST-Hex: a Fully–Actuated by Synchronized–Tilting Hexarotor.
See  for the paper describing the method used in the following video.
- , “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.