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Quadrotors flying close to the ground experience a force resisting their descent known as ground effect. In this letter, we use ground effect to provide passive position stability of a quadrotor. We analyze stability of a quadrotor with canted rotors flying in a sloped ground channel. Flying a 200 g quadrotor in a sloped channel, we demonstrate position keeping and identify the most effective configuration, combining low settling time, low overshoot, and fast response.
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Davis et al. (2016) studied this question.
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