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Modelling and control of a bidirectional rotors X4—flyer
AIP Conference Proceedings
This paper presents in the first part the conception and construction of a mini 4 rotors helicopter for indoor and outdoor applications. The proposed UA V, named XSF, has a very manoeuvrable platform and is indicated to work in inaccessible spaces such as per forming inspection tasks under bridges as well as inside pipes or tanks. Its main advantage with respect to classical4 rotors helicopters is the ability of flipping two motors in order to obtain two more control inputs. This feature allowsdoi:10.1063/1.3106463 fatcat:bgawofku7rcxbjy64ecsqog6mm