Bidirectional-thruster multirotor for perimeter pipe inspections (BiMPPI): A nonlinear optimal integral-SDRE design
This paper presents a novel bidirectional-thruster multirotor for perimeter pipeline inspection (BiMPPI). The bidirectional thrusters enable the generation of negative collective thrust, allowing BiMPPI to land on the pipe, reverse motor thrust directions, and push against the…
DOI: 10.1016/j.isatra.2025.03.015