COMET: A Dual Swashplate Autonomous Coaxial Bi-copter AAV with High-Maneuverability and Long-Endurance
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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866909937458741248 |
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| author | Wang, Shuai Tang, Xiaoming Liang, Junning Zheng, Haowen Ye, Biyu Liu, Zhaofeng Gao, Fei Lyu, Ximin |
| author_facet | Wang, Shuai Tang, Xiaoming Liang, Junning Zheng, Haowen Ye, Biyu Liu, Zhaofeng Gao, Fei Lyu, Ximin |
| contents | Coaxial bi-copter autonomous aerial vehicles (AAVs) have garnered attention due to their potential for improved rotor system efficiency and compact form factor. However, balancing efficiency, maneuverability, and compactness in coaxial bi-copter systems remains a key design challenge, limiting their practical deployment. This letter introduces COMET, a coaxial bi-copter AAV platform featuring a dual swashplate mechanism. The coaxial bi-copter system's efficiency and compactness are optimized through bench tests, and the whole prototype's efficiency and robustness under varying payload conditions are verified through flight endurance experiments. The maneuverability performance of the system is evaluated in comprehensive trajectory tracking tests. The results indicate that the dual swashplate configuration enhances tracking performance and improves flight efficiency compared to the single swashplate alternative. Successful autonomous flight trials across various scenarios verify COMET's potential for real-world applications. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_01246 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | COMET: A Dual Swashplate Autonomous Coaxial Bi-copter AAV with High-Maneuverability and Long-Endurance Wang, Shuai Tang, Xiaoming Liang, Junning Zheng, Haowen Ye, Biyu Liu, Zhaofeng Gao, Fei Lyu, Ximin Robotics Coaxial bi-copter autonomous aerial vehicles (AAVs) have garnered attention due to their potential for improved rotor system efficiency and compact form factor. However, balancing efficiency, maneuverability, and compactness in coaxial bi-copter systems remains a key design challenge, limiting their practical deployment. This letter introduces COMET, a coaxial bi-copter AAV platform featuring a dual swashplate mechanism. The coaxial bi-copter system's efficiency and compactness are optimized through bench tests, and the whole prototype's efficiency and robustness under varying payload conditions are verified through flight endurance experiments. The maneuverability performance of the system is evaluated in comprehensive trajectory tracking tests. The results indicate that the dual swashplate configuration enhances tracking performance and improves flight efficiency compared to the single swashplate alternative. Successful autonomous flight trials across various scenarios verify COMET's potential for real-world applications. |
| title | COMET: A Dual Swashplate Autonomous Coaxial Bi-copter AAV with High-Maneuverability and Long-Endurance |
| topic | Robotics |
| url | https://arxiv.org/abs/2512.01246 |