Effector-Centric NMPC of Tiltable-Multirotors for Offset-Free Omnidirectional Aerial Manipulation

arXiv:2608.17819v1 Announce Type: new Abstract: Aerial manipulation extends robotic operations to previously inaccessible aerial environments. Unlike arm-equipped aerial systems, tiltable-multirotors can directly generate six-degree-of-freedom wrenches through their flight bases, enabling both efficient movement and omnidirectional operation by tilting the thrust direction. This work presents a design analysis and a wrench-based control framework for tiltable-multirotors in aerial manipulation. ...