Multirotor configurations of an unmanned mini aircraft

This paper presents a unified static analysis for a class of multirotor configurations of an unmanned mini aircraft, having two, three, four, and six rotors. These five multirotor configurations are classified into two groups. In one group, the multirotor configurations have fewer rotors than necessary, leading to an overdetermined system, which consist of both vertical and tilted rotors, partially symmetric about the center of the aircraft. In the other group, the multirotor configurations have rotors more than necessary or as need, leading to an underdetermined or exact system, which consist of vertical rotors only, fully symmetric about the center of the aircraft. For each of four different multirotor configurations, the geometric rotor arrangement, the aircraft effector model, and the rotor speed control are described.