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The Omnicopter - an omni-directional six degrees-of-freedom flying machine In this video, we present a novel six degrees-of-freedom aerial vehicle. Based on a static force and torque analysis for generic actuator configurations, we have derived an eight-rotor configuration that maximizes the vehicle's agility in all directions. The resulting vehicle possesses full force and torque authority in all three dimensions, allowing it to fly novel maneuvers. For more details, please refer to the research paper “De
