8. Hexarotor
A hexarotor is a flying drone consisting of a solid body and six propeller thrusters. Each rotor has a fixed position q(i) on the drone and a direction d(i). The thrusters produce a force f i which has direction d(i). In the drone's frame of reference, the coordinates q(i), d(i) are given by the following table:
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Hexarotor
Geodetic
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