{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T23:59:58Z","timestamp":1780444798970,"version":"3.54.1"},"reference-count":28,"publisher":"Wiley","issue":"7","license":[{"start":{"date-parts":[[2025,2,2]],"date-time":"2025-02-02T00:00:00Z","timestamp":1738454400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2025,7]]},"abstract":"<jats:p>\nThis article presents PairTilt, a novel quadcopter design with two pairs of tiltable rotors, offering a balance between the simplicity of conventional quadcopters and the agility of complex tilt\u2010rotor systems. Despite being underactuated, with lateral motion not directly controlled, this design reduces complexity and energy consumption. The coupling of rotors reduces angular momentum issues, enhancing stability and efficiency without the challenges associated with tilting each motor individually, which would require higher servo torque due to significant gyroscopic torques. PairTilt's tiltable rotors enable agile maneuvers in confined spaces and reduce drag in high\u2010speed flight, extending operational range. The system's dynamics are analyzed, and a cascaded controller is implemented to ensure stable flight across various scenarios. Simulations and real\u2010world tests validate its superior agility, compact hovering, sensor pointing, and energy efficiency compared to conventional quadcopters. The primary contribution of this work lies in PairTilt's distinctive design, which achieves a unique balance of simplicity, efficiency, and agility. This balance is made possible by the pairwise rotor coupling, which reduces complexity and gyroscopic torque effects, and the prioritization of key degrees of freedom. This design approach opens new possibilities for aerial robotics applications requiring both maneuverability and efficient high\u2010speed flight.<\/jats:p>","DOI":"10.1002\/aisy.202400494","type":"journal-article","created":{"date-parts":[[2025,2,2]],"date-time":"2025-02-02T19:47:56Z","timestamp":1738525676000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["PairTilt: Design and Control of an Active Tilt\u2010Rotor Quadcopter for Improved Efficiency and Agility"],"prefix":"10.1002","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4863-354X","authenticated-orcid":false,"given":"Jerry","family":"Tang","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering University of California, Berkeley  Berkeley 94720 USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0557-5677","authenticated-orcid":false,"given":"Mark W.","family":"Mueller","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering University of California, Berkeley  Berkeley 94720 USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2025,2,2]]},"reference":[{"key":"e_1_2_11_2_1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-042920-012045"},{"key":"e_1_2_11_3_1","doi-asserted-by":"publisher","DOI":"10.21307\/ijssis-2017-872"},{"key":"e_1_2_11_4_1","first-page":"164","volume":"9","author":"Thusoo R.","year":"2021","journal-title":"Inf. Technol. Ind."},{"key":"e_1_2_11_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.amj.2014.10.011"},{"key":"e_1_2_11_6_1","unstructured":"A.Jaimes S.Kota J.Gomez inIEEE Inter. Conf. on System of Systems Engineering IEEE Piscataway NJ2008 pp.1\u20136."},{"key":"e_1_2_11_7_1","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2022.1033715"},{"key":"e_1_2_11_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/MC.2019.2942290"},{"key":"e_1_2_11_9_1","doi-asserted-by":"publisher","DOI":"10.3390\/s21185987"},{"key":"e_1_2_11_10_1","first-page":"09","volume":"77","author":"Poikonen S.","year":"2020","journal-title":"Networks"},{"key":"e_1_2_11_11_1","doi-asserted-by":"publisher","DOI":"10.23919\/ECC.2013.6669816"},{"key":"e_1_2_11_12_1","unstructured":"T.Mikami K.Uchiyama in 2015Int. Conf. on Unmanned Aircraft Systems (ICUAS) IEEE2015 pp.801\u2013805."},{"key":"e_1_2_11_13_1","doi-asserted-by":"publisher","DOI":"10.3390\/drones8030102"},{"key":"e_1_2_11_14_1","doi-asserted-by":"crossref","unstructured":"A.Sakaguchi T.Takimoto T.Ushio in2019 Int. Conf. on Unmanned Aircraft Systems (ICUAS) IEEE2019 674\u2013683.","DOI":"10.1109\/ICUAS.2019.8797934"},{"key":"e_1_2_11_15_1","doi-asserted-by":"crossref","unstructured":"M.Mousaei J.Geng A.Keipour D.Bai S.Scherer Design Modeling and Control for a Tilt\u2010Rotor Vtol Uav in the Presence of Actuator Failure2022 5.","DOI":"10.1109\/IROS47612.2022.9981806"},{"key":"e_1_2_11_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3193792"},{"key":"e_1_2_11_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2885575"},{"key":"e_1_2_11_18_1","doi-asserted-by":"crossref","unstructured":"M.Ryll H.B\u00fclthoff P.Giordano Modeling and Control of a Quadrotor UAV with Tilting Propellers 2012 05 4606.","DOI":"10.1109\/ICRA.2012.6225129"},{"key":"e_1_2_11_19_1","doi-asserted-by":"crossref","unstructured":"M.Ryll H.B\u00fclthoff P.Giordano First Flight Tests for a Quadrotor UAV with Tilting Propellers 2013 05 295.","DOI":"10.1109\/ICRA.2013.6630591"},{"key":"e_1_2_11_20_1","doi-asserted-by":"crossref","unstructured":"A.Nemati N.Soni M.Sarim M.Kumar inDynamic Systems and Control Conf. ASME Minneapolis Minnesota2016 https:\/\/doi.org\/10.1115\/DSCC2016-9929.","DOI":"10.1115\/DSCC2016-9929"},{"key":"e_1_2_11_21_1","unstructured":"M. S.Kamel S.Verling O.Elkhatib C.Sprecher P.Wulkop Z.Taylor R.Siegwart I.Gilitschenski (Preprint) arXiv:1801.04581 v1 submitted: Jan.2018."},{"key":"e_1_2_11_22_1","doi-asserted-by":"crossref","unstructured":"S.Park J.Her J.Kim D.Lee in2016 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2016 pp.1570\u20131575.","DOI":"10.1109\/IROS.2016.7759254"},{"key":"e_1_2_11_23_1","doi-asserted-by":"crossref","unstructured":"D.Brescianini R.D\u2019Andrea in2016 IEEE international conference on robotics and automation (ICRA) IEEE Stockholm Sweden2016 pp.3261\u20133266 https:\/\/doi.org\/10.1109\/ICRA.2016.7487497.","DOI":"10.1109\/ICRA.2016.7487497"},{"key":"e_1_2_11_24_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-024-02054-x"},{"key":"e_1_2_11_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3451391"},{"key":"e_1_2_11_26_1","unstructured":"N.Bucki M. W.Mueller in2019 Int. Conf. on Robotics and Automation (ICRA) IEEE2019 pp.9116\u20139122."},{"key":"e_1_2_11_27_1","doi-asserted-by":"crossref","unstructured":"P.Wang Z.Man Z.Cao J.Zheng Y.Zhao in2016 Int. Conf. on Advanced Mechatronic Systems (ICAMechS) IEEE2016 pp.498\u2013503.","DOI":"10.1109\/ICAMechS.2016.7813499"},{"key":"e_1_2_11_28_1","first-page":"05","volume":"7","author":"Weishaupl A.","year":"2019","journal-title":"Unmanned Syst."},{"key":"e_1_2_11_29_1","doi-asserted-by":"publisher","DOI":"10.3390\/drones3040077"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202400494","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T15:37:38Z","timestamp":1759851458000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202400494"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,2,2]]},"references-count":28,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2025,7]]}},"alternative-id":["10.1002\/aisy.202400494"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202400494","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"value":"2640-4567","type":"print"},{"value":"2640-4567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,2,2]]},"assertion":[{"value":"2024-06-14","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-02-02","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"2400494"}}