I’ve always appreciated the term ‘multirotor’ because it applies across the board to drone designs, but that isn’t applicable when there’s only one rotor!

The monospinner cannot hover like a standard multicopter. However, an unconventional equilibrium is found by analyzing the vehicle’s dynamics. For a certain constant angular speed and propeller force, the monospinner is able to remain substantially in one position. Feedback control keeps the vehicle near this equilibrium.

The mechanical design is chosen based on two robustness metrics: the ability to maintain hover under perturbations and the probability of input saturation based on a stochastic model. The resulting vehicle is sufficiently robust to achieve hover after being launched like a Frisbee.