Drag-Aware Aerodynamic Manipulability for Torque-Limited Redundant Multirotors: Aerodynamic Promptness based on the Symmetric Acceleration Capacity
Aerodynamic promptness quantifies how rotor-speed variations generate multirotor wrench variations, but its Euclidean formulation assigns the same local cost to a given rotor acceleration at every operating speed. This work develops a capacity-aware extension for redundant multirotors with arbitrary numbers of heterogeneous rotors and wrench components. Under bounded motor torque and aerodynamic drag, each generally asymmetric instantaneous rotor-acceleration interval contains a largest zero-centered subset whose radius defines the symmetric acceleration capacity (SAC). The SAC induces a Riemannian metric on the positive-capacity rotor-speed region. Propagating its co-metric through the n...
| Authors | Antonio Franchi |
|---|---|
| Primary category | cs.RO |
| Published | 9 March 2026 |
| Last updated at source | 16 September 2026 |
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