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