Omnidirectional Micro Aerial Vehicle

Omnidirectional micro aerial vehicles (OMAVs), characterized by their ability to independently control both position and orientation through tilting propellers, are a rapidly developing area of research focused on enhancing maneuverability and control in complex environments. Current research emphasizes developing robust control algorithms, including model predictive control (MPC), reinforcement learning, and geometric tracking controllers, to address challenges such as trajectory generation in cluttered spaces, precise interaction with the environment (e.g., perching, manipulation), and safe operation during physical contact. These advancements are significant for applications ranging from infrastructure inspection and construction to search and rescue, offering improved capabilities over traditional underactuated drones.