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Recently increasing attention has been paid to multirotor small-scale autonomous helicopters. The most studied rotor layout is the so-called quadrotor helicopter, also called quadcopter. However, these UAVs can be seen as lacking agility as they cannot move in their horizontal plane and thus have to rotate to perform translations. In this work, we develop on a layout involving only three rotors with...
Optimizing energy consumption of Micro Aerial Vehicles is one of several problems that remains to be solved in the domain of UAVs. In a recent work, a novel quadrotor was introduced that was able, when possible, to roll on the ground thanks to a tilting propeller and caster wheels. In the following work, we build upon this idea with a trirotor helicopter where all the rotors are independently tilting...
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