Allocation for Omnidirectional Aerial Robots: Incorporating Power Dynamics

arXiv:2412.16107v4 Announce Type: replace Abstract: Tilt-rotor aerial robots are more dynamic and versatile than fixed-rotor platforms, since the thrust vector and body orientation are decoupled. However, the coordination of servos and propellers (the allocation problem) is not trivial, especially accounting for overactuation and actuator dynamics. We incrementally build and present three novel allocation methods for tilt-rotor aerial robots, comparing them to state-of-the-art methods on a real system performing dynamic maneuvers. We extend the state-of-the-art geometric allocation into a differential allocation, which uses the platform's redundancy and does not suffer from singularities. We expand it by incorporating actuator dynamics and propeller power dynamics. These allow us to model dynamic propeller acceleration limits, bringing two main advantages: balancing propeller speed without the need for nullspace goals and allowing the platform to selectively turn off propellers during flight, opening the door to new manipulation possibilities. We also use actuator dynamics and limits to normalize the allocation problem, making it easier to tune and allowing it to track 70% faster trajectories than a geometric allocation.

Related

• Soft Electroadhesive Feet for Micro Aerial Robots Perching on Smooth and Curved Surfaces
• One Interface, Many Robots: Unified Real-Time Low-Level Motion Planning for Collaborative Arms
• Complementary Filtering on SO(3) for Attitude Estimation with Scalar Measurements
• Bird-Inspired Spatial Flapping Wing Mechanism via Coupled Linkages with Single Actuator
• On the Terminology and Geometric Aspects of Redundant Parallel Manipulators

Source: arXiv cs.RO | 2026-04-13