Underwater Stability of a Morphable Aerial-Aquatic Quadrotor With Variable Thruster Angles
Yu Herng Tan Ben M. Chen Yu Herng Tan Ben M. Chen
The design of aerial-aquatic multirotors can benefit from thruster rotation so that the thrusters can act directly in the lateral directions of surge and sway when submerged. This allows much more effective locomotion underwater as opposed to the aerial configuration where rotational acceleration is used to direct small components of thrust in the lateral directions. However, the introduction of l...