# Design and optimal control of a tiltrotor micro aerial vehicle for efficient omnidirectional flight

arXiv: https://arxiv.org/abs/2003.09512 · HTML: https://mlsanity.com/paper/2003.09512/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Mar 2020.

## Built on by (most cited first, 3 of 3)

- [Advanced Algorithms of Collision Free Navigation and Flocking for Autonomous UAVs](https://mlsanity.com/paper/2111.00166/) (2021)
- [Learning End-to-End Control for Omnidirectional Aerial Motion on Overactuated Tilt-rotor Quadrotors](https://mlsanity.com/paper/2602.21583/) (2026)
- [Hybrid Neural Network and Conventional Controller Approach for Robust Control of Highly Unstable Systems: Application to Tilt-Rotor Control](https://mlsanity.com/paper/2606.08714/) (2026)

## Abstract (arXiv)

Omnidirectional micro aerial vehicles are a growing field of research, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust system that combines the two has not been demonstrated to date. This paper presents the design and optimal control of a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is motivated by the result of a morphology design optimization. A six degrees of freedom optimal controller is derived, with an actuator allocation approach that implements task prioritization, and is robust to singularities. Flight experiments demonstrate and verify the system's capabilities.