  Omnidirectional MAVs are a growing field, with demonstrated advantages for
aerial interaction and uninhibited observation. While systems with complete
pose omnidirectionality and high hover efficiency have been developed
independently, a robust system that combines the two has not been demonstrated
to date. This paper presents VoliroX: a novel omnidirectional vehicle that can
exert a wrench in any orientation while maintaining efficient flight
configurations. The system design is presented, and a 6 DOF geometric control
that is robust to singularities. Flight experiments further demonstrate and
verify its capabilities.
