Thrust Vectoring UAV

A multirotor's main rotors are built for lift, not for pushing sideways or twisting against something. This project bolts small horizontal thrusters onto an otherwise standard airframe, giving it an independent way to generate torque and lateral force — enough to hold steady contact against a wall or turn a valve without destabilizing the main flight controller.

Published in MDPI's Drones journal, the work covers the add-on thruster hardware, the control framework for coordinating it with the main rotors, and demonstrations spanning torsional (twisting) work, wall-contact inspection, and even a high-pressure washing application nicknamed the "Flying Washer."