MOCE 2.0

Center-of-Mass Estimation and Allocation Geometry Adaptation for Fully Actuated Multirotor UAVs

Project Period: Apr. 2025 – Mar. 2026

Accepted in Drones (MDPI), 2026 — “Transient-Buffered Allocation Geometry Adaptation for Fully Actuated Multirotor UAVs under Center-of-Mass Variations” — Seuk Seo, Hyungeun Park, Geonwoo Park, Seung Jae Lee*

🔹 Methodology

• Online CoM estimation from disturbance-observer compensation.
• CoM-aware allocation geometry update for fully actuated multirotors.
• DOB-based transient buffering during adaptation.

🎥 Project Demo

🔗 Full Video Version

🔹 Simulation-Based Validation

palletrone_sim.1.5x.mp4

• Real-flight-data-calibrated MuJoCo model including actuator dynamics, measurement uncertainty, and stochastic residual force/torque.
• Real-world vs. simulation comparison for MOCE 2.0 and the DOB baseline under matched CoM-biased conditions.

🔗 MOCE Simulation Repository

🔹 Repository Structure

• px4_firmware — Modified PX4 firmware for fully actuated control allocation, disturbance observation, and online CoM estimation.
• ros2_interface — PX4–ROS 2 bridge for experiment logging and servo interfacing.
• MOCE_simulation — Flight-data-calibrated MuJoCo simulation for validation and Monte Carlo robustness analysis.