We present the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the platform to switch between different configurations to achieve the required task. The uni-directional thrust (UDT) configuration can be used for energy-efficient navigation, while fully-actuated (FA) and omnidirectional (OD) configurations can be used for full pose tracking and make the platform assume any orientation while compensating the gravity. The platform is equipped with eight bi-directional propellers that are actively tilted in a synchronized fashion using only one additional degree of actuation.

翻译：我们提出了一种新型变形多旋翼无人机（UAV）——OmniMorph的设计、建模与控制方法。其变形能力使平台能够在不同构型间切换，以适应任务需求：单向推力（UDT）构型可用于高效能导航，而全驱动（FA）与全向（OD）构型则支持完整位姿跟踪，使平台在重力补偿的同时实现任意姿态。该平台配备八组双向螺旋桨，仅通过一个额外驱动自由度即可实现同步主动倾转。