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The morphing ability allows the selection of the configuration that optimizes energy consumption while ensuring the needed maneuverability for the required task. The most energy-efficient <jats:italic>uni-directional thrust<\/jats:italic> (UDT) configuration can be used, e.g., during standard point-to-point displacements. <jats:italic>Fully-actuated<\/jats:italic> (FA) and <jats:italic>omnidirectional<\/jats:italic> (OD) configurations can be instead used for full pose tracking, such as, e.g., constant attitude horizontal motions and full rotations on the spot, and for full wrench 6D interaction control and 6D disturbance rejection. Morphing is obtained using a single servomotor, allowing possible minimization of weight, costs, and maintenance complexity. The actuation properties are studied, and an optimal controller that compromises between performance and control effort is proposed and validated in realistic simulations. Preliminary tests on the prototype are presented to assess the propellers\u2019 mutual aerodynamic interference.<\/jats:p>","DOI":"10.1007\/s10846-024-02054-x","type":"journal-article","created":{"date-parts":[[2024,1,25]],"date-time":"2024-01-25T07:02:23Z","timestamp":1706166143000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Modelling, Analysis, and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV"],"prefix":"10.1007","volume":"110","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1896-2403","authenticated-orcid":false,"given":"Youssef","family":"Aboudorra","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0051-2941","authenticated-orcid":false,"given":"Chiara","family":"Gabellieri","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ralph","family":"Brantjes","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9153-7927","authenticated-orcid":false,"given":"Quentin","family":"Sabl\u00e9","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5670-1282","authenticated-orcid":false,"given":"Antonio","family":"Franchi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2024,1,25]]},"reference":[{"issue":"1","key":"2054_CR1","doi-asserted-by":"publisher","first-page":"626","DOI":"10.1109\/TRO.2021.3084395","volume":"38","author":"A Ollero","year":"2022","unstructured":"Ollero, A., Tognon, M., Suarez, A., Lee, D., Franchi, A.: Past, Present, and Future of Aerial Robotic Manipulators. 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