{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,19]],"date-time":"2026-05-19T18:00:35Z","timestamp":1779213635708,"version":"3.51.4"},"reference-count":105,"publisher":"SAGE Publications","issue":"8-9","license":[{"start":{"date-parts":[[2021,7,22]],"date-time":"2021-07-22T00:00:00Z","timestamp":1626912000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2021,8]]},"abstract":"<jats:p>This paper reviews the effect of multirotor aerial vehicle designs on their abilities in terms of tasks and system properties. We propose a general taxonomy to characterize and describe multirotor aerial vehicles and their designs, which we apply exhaustively on the vast literature available. Thanks to the systematic characterization of the designs, we exhibit groups of designs having the same abilities in terms of achievable tasks and system properties. In particular, we organize the literature review based on the number of atomic actuation units and we discuss global properties arising from their choice and spatial distribution in the mechanical designs. Finally, we provide a discussion on the common traits of the designs found in the literature and the main open and future problems.<\/jats:p>","DOI":"10.1177\/02783649211025998","type":"journal-article","created":{"date-parts":[[2021,7,22]],"date-time":"2021-07-22T07:03:33Z","timestamp":1626937413000},"page":"1015-1044","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":107,"title":["Design of multirotor aerial vehicles: A taxonomy based on input allocation"],"prefix":"10.1177","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9149-3741","authenticated-orcid":false,"given":"Mahmoud","family":"Hamandi","sequence":"first","affiliation":[{"name":"LAAS\u2013CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Federico","family":"Usai","sequence":"additional","affiliation":[{"name":"LAAS\u2013CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9153-7927","authenticated-orcid":false,"given":"Quentin","family":"Sabl\u00e9","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Lab, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nicolas","family":"Staub","sequence":"additional","affiliation":[{"name":"LAAS\u2013CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France"},{"name":"Multi-Robot Systems Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1700-9637","authenticated-orcid":false,"given":"Marco","family":"Tognon","sequence":"additional","affiliation":[{"name":"LAAS\u2013CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France"},{"name":"Autonomous Systems Lab, Department of Mechanical and Process Engineering, ETH Zurich, Z\u00fcrich, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5670-1282","authenticated-orcid":false,"given":"Antonio","family":"Franchi","sequence":"additional","affiliation":[{"name":"LAAS\u2013CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France"},{"name":"Robotics and Mechatronics Lab, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2021,7,22]]},"reference":[{"key":"bibr1-02783649211025998","unstructured":"Aerones (2016) Heavy duty drone for high paylaod transportation. https:\/\/www.aerones.com\/ (accessed 31 August 2020)."},{"key":"bibr2-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/RAMECH.2010.5513152"},{"key":"bibr3-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920943654"},{"key":"bibr4-02783649211025998","doi-asserted-by":"publisher","DOI":"10.3182\/20110828-6-IT-1002.03266"},{"key":"bibr5-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206493"},{"key":"bibr6-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2016.7502536"},{"key":"bibr7-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1145\/235815.235821"},{"key":"bibr8-02783649211025998","volume-title":"Design and Control of Multi-Directional Thrust Multi-Rotor Aerial Vehicles With Applications to Aerial Physical Interaction Tasks","author":"Bicego D","year":"2019"},{"key":"bibr9-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2014.6842324"},{"key":"bibr10-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1389776"},{"key":"bibr11-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570447"},{"key":"bibr12-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487497"},{"key":"bibr13-02783649211025998","doi-asserted-by":"publisher","DOI":"10.2514\/6.2017-3739"},{"key":"bibr14-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1007\/PL00011391"},{"key":"bibr15-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2016.7795745"},{"key":"bibr16-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/CYBER.2012.6392571"},{"key":"bibr17-02783649211025998","doi-asserted-by":"publisher","DOI":"10.2514\/1.51186"},{"key":"bibr18-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1142\/S2301385017400040"},{"key":"bibr19-02783649211025998","first-page":"0893","author":"Devlin T","year":"2018","journal-title":"2018 AIAA Information Systems-AIAA Infotech@ Aerospace"},{"key":"bibr20-02783649211025998","doi-asserted-by":"publisher","DOI":"10.3182\/20140824-6-ZA-1003.01735"},{"key":"bibr21-02783649211025998","volume-title":"Control Allocation of a Tilting Rotor Hexacopter","author":"Elkhatib O","year":"2017"},{"key":"bibr22-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2008.4587031"},{"key":"bibr23-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989679"},{"key":"bibr24-02783649211025998","doi-asserted-by":"publisher","DOI":"10.3182\/20120905-3-HR-2030.00031"},{"key":"bibr25-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2786734"},{"key":"bibr26-02783649211025998","doi-asserted-by":"publisher","DOI":"10.23919\/ChiCC.2017.8028388"},{"key":"bibr27-02783649211025998","volume-title":"The Convex Hull Problem in Practice: Improving the Running Time of the Double Description Method","author":"Genov B","year":"2015"},{"key":"bibr28-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2016.140885"},{"key":"bibr29-02783649211025998","first-page":"5968","author":"Gress G","year":"2002","journal-title":"2002 Biennial International Powered Lift Conference and Exhibit"},{"key":"bibr30-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS48674.2020.9214065"},{"key":"bibr31-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2016.7502680"},{"key":"bibr32-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2017.7991450"},{"key":"bibr33-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2014.10.129"},{"key":"bibr34-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2017.08.1645"},{"key":"bibr35-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/SSRR.2014.7017669"},{"key":"bibr36-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206605"},{"key":"bibr37-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2018.2866758"},{"key":"bibr38-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2015.08.063"},{"key":"bibr39-02783649211025998","doi-asserted-by":"publisher","DOI":"10.3182\/20110828-6-IT-1002.02694"},{"key":"bibr40-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353422"},{"key":"bibr41-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.882956"},{"key":"bibr42-02783649211025998","unstructured":"Festo AG & Co. KG (2016) Freemotionhandling. https:\/\/www.festo.com\/net\/SupportPortal\/Files\/443122\/50017_Brosch_FreeMotionHandling_en_160329_lo_ES.pdf. (accessed 11 July 2018)."},{"key":"bibr43-02783649211025998","doi-asserted-by":"publisher","DOI":"10.23919\/ChiCC.2017.8027525"},{"key":"bibr44-02783649211025998","unstructured":"Kleder M (2020) CON2VERT - constraints to vertices. Matlab Central File Exchange. https:\/\/www.mathworks.com\/matlabcentral\/fileexchange\/7894-con2vert-constraints-to-vertices (accessed 5 June 2021)."},{"key":"bibr45-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2014-34690"},{"key":"bibr46-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2012-70485"},{"key":"bibr47-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2206474"},{"key":"bibr48-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989611"},{"key":"bibr49-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2016.7502576"},{"key":"bibr50-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989320"},{"key":"bibr51-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2821155"},{"key":"bibr52-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980561"},{"key":"bibr53-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2001.981968"},{"key":"bibr54-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/CONTROL.2012.6334647"},{"key":"bibr55-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594419"},{"key":"bibr56-02783649211025998","volume-title":"2019 IEEE International Conference on Robotics and Automation","author":"Myeong W","year":"2019"},{"key":"bibr57-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2014.6859328"},{"key":"bibr58-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1115\/DSCC2016-9929"},{"key":"bibr59-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139851"},{"key":"bibr60-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/AIM.2016.7576784"},{"key":"bibr61-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2015.1134344"},{"key":"bibr62-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509882"},{"key":"bibr63-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICAR.2011.6088631"},{"key":"bibr64-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907516"},{"key":"bibr65-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-015-0231-1"},{"key":"bibr66-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/MED.2013.6608717"},{"key":"bibr67-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759254"},{"key":"bibr68-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2018.2848255"},{"key":"bibr69-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2017.7991321"},{"key":"bibr70-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2010.02.008"},{"key":"bibr71-02783649211025998","first-page":"145","volume-title":"Proceedings of the 2002 Australasian Conference on Robotics and Automation (ACRA 2002)","author":"Pounds P","year":"2002"},{"key":"bibr72-02783649211025998","volume-title":"ERCOFTAC International Symposium \u2018Unsteady separation in fluid-structure\u2019","author":"Prothin S","year":"2013"},{"key":"bibr73-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139759"},{"key":"bibr74-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353443"},{"key":"bibr75-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793939"},{"key":"bibr76-02783649211025998","author":"Rashad R","year":"2017","journal-title":"arXiv preprint arXiv:1709.05398"},{"key":"bibr77-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2007.4434776"},{"key":"bibr78-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570506"},{"key":"bibr79-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759271"},{"key":"bibr80-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225129"},{"key":"bibr81-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630591"},{"key":"bibr82-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2014.2330999"},{"key":"bibr83-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989608"},{"key":"bibr84-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1115\/1.4040631"},{"key":"bibr85-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2015.7152365"},{"key":"bibr86-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570507"},{"key":"bibr87-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2009.02.013"},{"key":"bibr88-02783649211025998","doi-asserted-by":"publisher","DOI":"10.3182\/20080706-5-KR-1001.00138"},{"key":"bibr89-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793592"},{"key":"bibr90-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/PLANS.2016.7479769"},{"key":"bibr91-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-013-9987-3"},{"key":"bibr92-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2013.6564796"},{"key":"bibr93-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2014.6842367"},{"key":"bibr94-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2015.7152382"},{"key":"bibr95-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/MMAR.2015.7283929"},{"key":"bibr96-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460877"},{"key":"bibr97-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2017.08.1325"},{"key":"bibr98-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2802544"},{"key":"bibr99-02783649211025998","doi-asserted-by":"publisher","DOI":"10.2514\/6.2009-1983"},{"key":"bibr100-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/CACS.2016.7973885"},{"issue":"6","key":"bibr101-02783649211025998","first-page":"2347","volume":"9","author":"Yoon S","year":"2013","journal-title":"International Journal of Innovative Computing, Information and Control"},{"key":"bibr102-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400201"},{"key":"bibr103-02783649211025998","volume-title":"The Helicopters: The Epic of Flight","author":"Young WR","year":"1982"},{"key":"bibr104-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487499"},{"key":"bibr105-02783649211025998","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989606"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649211025998","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/02783649211025998","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649211025998","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:50Z","timestamp":1777457810000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/02783649211025998"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,7,22]]},"references-count":105,"journal-issue":{"issue":"8-9","published-print":{"date-parts":[[2021,8]]}},"alternative-id":["10.1177\/02783649211025998"],"URL":"https:\/\/doi.org\/10.1177\/02783649211025998","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,7,22]]}}}