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. 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. Daejeon, South Korea; 2016. pp. 1689-1694.