Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: FAST-Hex -- A Morphing Hexarotor: Design, Mechanical Implementation,
  Control and Experimental Validation   We present FAST-Hex, a micro aerial hexarotor platform that allows to
seamlessly transit from an under-actuated to a fully-actuated configuration
with only one additional control input, a motor that synchronously tilts all
propellers. The FAST-Hex adapts its configuration between the more efficient
but under-actuated, collinear multi-rotors and the less efficient, but
full-pose-tracking, which is attained by non-collinear multi-rotors. On the
basis of prior work on minimal input configurable micro aerial vehicle we
mainly stress three aspects: mechanical design, motion control and experimental
validation. Specifically, we present the lightweight mechanical structure of
the FAST-Hex that allows it to only use one additional input to achieve
configurability and full actuation in a vast state space. The motion controller
receives as input any reference pose in $\mathbb{R}^3\times \mathrm{SO}(3)$ (3D
position + 3D orientation). Full pose tracking is achieved if the reference
pose is feasible with respect to actuator constraints. In case of unfeasibility
a new feasible desired trajectory is generated online giving priority to the
position tracking over the orientation tracking. Finally we present a large set
of experimental results shading light on all aspects of the control and pose
tracking of FAST-Hex.

27
The categories of this paper are: comp-gas
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The categories of this paper are: q-alg
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The categories of this paper are: nucl-th
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The categories of this paper are: nucl-ex
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The categories of this paper are: hep-lat
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The categories of this paper are: adap-org
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The categories of this paper are: patt-sol
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The categories of this paper are: plasm-ph
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The categories of this paper are: cmp-lg
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The categories of this paper are: math-ph
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The categories of this paper are: solv-int
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The categories of this paper are: funct-an
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The categories of this paper are: atom-ph
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The categories of this paper are: hep-th
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The categories of this paper are: hep-ph
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The categories of this paper are: q-fin