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Rotary-wing flying machines draw attention within the UAV community for theirin-place hovering capability, and recently, holonomic motion over fixed-wings.In this paper, we investigate about the power-optimality in a mono-spinner,i.e., a class of rotary-wing UAVs with one rotor only, whose main body has astreamlined shape for producing additional lift when counter-spinning therotor. We provide a detailed dynamic model of our mono-spinner. Twoconfigurations are studied: (1) a symmetric configuration, in which the rotoris aligned with the fuselage's COM, and (2) an asymmetric configuration, inwhich the rotor is located with an offset from the fuselage's COM. While theformer can generate an in-place hovering flight condition, the latter canachieve trajectory tracking in 3D space by resolving the yaw and precessionrates. Furthermore, it is shown that by introducing a tilting angle between therotor and the fuselage, within the asymmetric design, one can further minimizethe power consumption without compromising the overall stability. It is shownthat an energy optimal solution can be achieved through the proper aerodynamicdesign of the mono-spinner for the first time.

Optimal-power Configurations for Hover Solutions in Mono-spinners