Abstract
In this paper, we consider a nonholonomic aerial mobile robot in tetrahedral shape with six fins mounted on its edges. From a viewpoint of nonlinear control theory, this robot is in the class of first-order driftless system with six inputs, where its controllability Lie algebra is generated nonholonomic aerial mobile robot considering its symmetry with respect to spatial rotations, and investigate its locomotion principle (e.g. translation and rotation) as well as fundamental control algorithm.
