Fundamental Actuation Properties of Multi-rotors: Force-Moment Decoupling and Fail-safe Robustness

These 3 videos are a showcase of the general theory developed on [1] for any multi-rotor system, to the case of an hexarotor. The counterintuitive fact that standard hexarotors are not failsafe is explained and experiments showing that a tilted hexarotor is instead failsafe are shown.

Details on the method are given in this paper [1]