Influence of Static and Dynamic Downwash Interactions on Multi-Quadrotor Systems
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866914143154470912 |
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| author | Kiran, Anoop Ayanian, Nora Breuer, Kenneth |
| author_facet | Kiran, Anoop Ayanian, Nora Breuer, Kenneth |
| contents | Flying multiple quadrotors in close proximity presents a significant challenge due to complex aerodynamic interactions, particularly downwash effects that are known to destabilize vehicles and degrade performance. Traditionally, multi-quadrotor systems rely on conservative strategies, such as collision avoidance zones around the robot volume, to circumvent this effect. This restricts their capabilities by requiring a large volume for the operation of a multi-quadrotor system, limiting their applicability in dense environments. This work provides a comprehensive, data-driven analysis of the downwash effect, with a focus on characterizing, analyzing, and understanding forces, moments, and velocities in both single and multi-quadrotor configurations. We use measurements of forces and torques to characterize vehicle interactions, and particle image velocimetry (PIV) to quantify the spatial features of the downwash wake for a single quadrotor and an interacting pair of quadrotors. This data can be used to inform physics-based strategies for coordination, leverage downwash for optimized formations, expand the envelope of operation, and improve the robustness of multi-quadrotor control. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_09463 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Influence of Static and Dynamic Downwash Interactions on Multi-Quadrotor Systems Kiran, Anoop Ayanian, Nora Breuer, Kenneth Robotics Fluid Dynamics Flying multiple quadrotors in close proximity presents a significant challenge due to complex aerodynamic interactions, particularly downwash effects that are known to destabilize vehicles and degrade performance. Traditionally, multi-quadrotor systems rely on conservative strategies, such as collision avoidance zones around the robot volume, to circumvent this effect. This restricts their capabilities by requiring a large volume for the operation of a multi-quadrotor system, limiting their applicability in dense environments. This work provides a comprehensive, data-driven analysis of the downwash effect, with a focus on characterizing, analyzing, and understanding forces, moments, and velocities in both single and multi-quadrotor configurations. We use measurements of forces and torques to characterize vehicle interactions, and particle image velocimetry (PIV) to quantify the spatial features of the downwash wake for a single quadrotor and an interacting pair of quadrotors. This data can be used to inform physics-based strategies for coordination, leverage downwash for optimized formations, expand the envelope of operation, and improve the robustness of multi-quadrotor control. |
| title | Influence of Static and Dynamic Downwash Interactions on Multi-Quadrotor Systems |
| topic | Robotics Fluid Dynamics |
| url | https://arxiv.org/abs/2507.09463 |