This paper presents the first worldwide functional prototype omnidirectional multi-rotor aerial vehicle with fixed uni-directional thrusters, with an on-board power source. An optimization algorithm computes the positions and orientations of the propellers in the body frame of the prototype to achieve the omnidirectional capability, while minimizing the platform's weight and the required thrust to hover at any orientation, in addition to other construction requirements. The effect of the aerodynamic interaction between the different propellers is identified experimentally, and the ensuing results are included in the optimization algorithm to avoid such interactions during flight. The prototype's performance is assessed in real experiments demonstrating the decoupling between the forces and moments of the drone, its ability to track concurrently independent positions and orientations, and its ability to hover at a fixed position while rotating.

Autonomous aerial vehicles play a critical role in search and rescue operations, where navigation through cluttered and confined environments is essential. To this end, this paper presents a novel trajectory planning framework for omnidirectional drones that dynamically adjusts tracking velocity based on the platform’s proximity to obstacles, ensuring a balance between safety and efficiency in cluttered and challenging environments. The proposed approach generates a geometric path to the target location. At each waypoint, the minimum distance between the drone’s convex hull and surrounding obstacles is determined, allowing the computation of the velocity constraints. By slowing down near obstacles and accelerating in open spaces, the method enhances both safety and maneuverability. The framework is validated through real-world experiments using the OmniOcta UAV, demonstrating its ability to navigate through constrained spaces. Furthermore, we present an experimental study to investigate key sources of tracking deviations, including propeller dynamics and aerodynamic interactions near obstacles.