Downwash-aware Configuration Optimization for Modular Aerial Systems
Fuente:
arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2026
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| _version_ | 1866910028178391040 |
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| author | Li, Mengguang Koeppl, Heinz |
| author_facet | Li, Mengguang Koeppl, Heinz |
| contents | This work proposes a framework that generates and optimally selects task-specific assembly configurations for a large group of homogeneous modular aerial systems, explicitly enforcing bounds on inter-module downwash. Prior work largely focuses on planar layouts and often ignores aerodynamic interference. In contrast, firstly we enumerate non-isomorphic connection topologies at scale; secondly, we solve a nonlinear program to check feasibility and select the configuration that minimizes control input subject to actuation limits and downwash constraints. We evaluate the framework in physics-based simulation and demonstrate it in real-world experiments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_18344 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Downwash-aware Configuration Optimization for Modular Aerial Systems Li, Mengguang Koeppl, Heinz Robotics This work proposes a framework that generates and optimally selects task-specific assembly configurations for a large group of homogeneous modular aerial systems, explicitly enforcing bounds on inter-module downwash. Prior work largely focuses on planar layouts and often ignores aerodynamic interference. In contrast, firstly we enumerate non-isomorphic connection topologies at scale; secondly, we solve a nonlinear program to check feasibility and select the configuration that minimizes control input subject to actuation limits and downwash constraints. We evaluate the framework in physics-based simulation and demonstrate it in real-world experiments. |
| title | Downwash-aware Configuration Optimization for Modular Aerial Systems |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.18344 |