A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure

This letter presents a novel open source design of the Y-shaped hexarotor Unammend Aerial Vehicle (UAV), and proves both in theory real experiments its robustness to failure any propellers. An intuitive geometrical interpretation UAV static hovering ability is presented, through which different coplanar/collinear designs analyzed. Following presented interpretation, we also show conditions that allow Star-shaped be robust some propellers, while showing structural incapability hover case at least one Finally, efficiency hexarotors are tested experimentally, conclusions on advantages disadvantages two drawn.