%0 Conference Proceedings
%F Ryll13a
%A Ryll, M.
%A H. Bülthoff, H.
%A Robuffo Giordano, P.
%T {First Flight Tests for a Quadrotor UAV with Tilting Propellers}
%B IEEE Int. Conf. on Robotics and Automation, ICRA 2013
%P 295-302
%C Karlsruhe, Germany
%X 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
%U http://www.irisa.fr/lagadic/pdf/2013_icra_ryll.pdf
%U http://dx.doi.org/10.1109/ICRA.2013.6630591
%8 May
%D 2013