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M. Ryll, H. H. Bülthoff, P. Robuffo Giordano. First Flight Tests for a Quadrotor UAV with Tilting Propellers. In IEEE Int. Conf. on Robotics and Automation, ICRA 2013, Pages 295-302, Karlsruhe, Germany, May 2013.

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In this work we present a novel concept of a quadrotor UAV with tilting propellers. Standard quadrotors are limited in their mobility because of their intrinsic underactuation (only 4 independent control inputs vs. their 6-dof pose in space). The quadrotor prototype discussed in this paper, on the other hand, has the ability to also control the orientation of its 4 propellers, thus making it possible to overcome the aforementioned underactuation and behave as a fully-actuated flying vehicle. We first illustrate the hardware/software specifications of our recently developed prototype, and then report the experimental results of some preliminary, but promising, flight tests which show the capabilities of this new UAV concept

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   Author = {Ryll, M. and H. Bülthoff, H. and Robuffo Giordano, P.},
   Title = {{First Flight Tests for a Quadrotor UAV with Tilting Propellers}},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA 2013},
   Pages = {295--302},
   Address = {Karlsruhe, Germany},
   Month = {May},
   Year = {2013}

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