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	2021/10
形態種別	学術雑誌
査読	査読あり
標題	A Geometric Method of Hoverability Analysis for Multirotor UAVs with Upward Oriented Rotors
執筆形態	共著(筆頭者以外)
掲載誌名	IEEE Transactions on Robotics
掲載区分	国外
出版社・発行元	The Institute of Electrical and Electronics Engineers (IEEE)
巻・号・頁	37(5),pp.1765-1779
総ページ数	15
著者・共著者	Shunsuke Mochida, Remma Matsuda, Tatsuya Ibuki, Mitsuji Sampei,
概要	This article proposes a novel geometric method to investigate whether a multirotor unmanned aerial vehicle (UAV) can achieve static hovering, i.e., hoverability. Hoverability is indispensable for a multirotor UAV to conduct its tasks safely and should be satisfied even after its rotors fail to prevent accidents. The proposed geometric method reveals the relationship between the position of the center of mass (CoM) and the rotor placement of a multirotor UAV with upward-oriented rotors to satisfy hoverability. It can be applied to a multirotor UAV with any number and positioning of rotors. This article also demonstrates that our proposed method can be applied to the investigation of a robust structure against rotor failures. This investigation provides a geometric proof that a pentarotor UAV with robustness against an arbitrary rotor failure cannot be developed. Furthermore, a quantitative measure of hoverability is newly presented based on the analysis method.