イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	英語
発行・発表の年月	2024/06
形態種別	学術雑誌
査読	査読あり
標題	Hoverable Structure Transformation for Multirotor UAVs with Laterally Actuated Frame Links
執筆形態	共著(筆頭者以外)
掲載誌名	Advanced Robotics
掲載区分	国外
出版社・発行元	The Robotics Society of Japan (RSJ)
国際共著	国際共著
著者・共著者	Riku Funada, Mustafa Soliman, Tatsuya Ibuki, Mitsuji Sampei
概要	This paper presents motion planning strategies that assure stable hovering for a transformable unmanned aerial vehicle throughout its transformation. We first introduce the concept of hoverability, which assures static hovering with a linear state feedback controller. Because the hoverability can be evaluated quantitatively by utilizing a convex hull yielded by the positions of rotors, we propose motion planning methods that leverage the hoverability to achieve transformation while guaranteeing stable hovering with desired margin. The proposed motion planning is designed to secure the specified threshold for hoverability and avoid interferences between links or rotors. We then present two types of costs for motion planning: one minimizes the transformation duration, and the other maximizes the hoverability during the transformation.