Preserving Full 6-DOF Actuation Under Abrupt Total Rotor Failures: Passive Fault-Tolerant Flight Control Using a Biaxial-Tilt Hexacopter

arXiv:2606.05663 · cs.RO · Submitted 2026-06-04 · Read on arXiv

cs.RO

Submitted: 2026-06-04

Updated: 2026-09-21

Terminology

• Accuracy — 10× in this paper · explained in 1 episode
• Robustness — 9× in this paper · explained in 5 episodes
• Allocator — 7× in this paper · explained in 1 episode
• Attainable Wrench Space — 5× in this paper
• Redundancy — 5× in this paper · explained in 2 episodes
• Adaptability — 2× in this paper · explained in 1 episode
• Benchmarking — 2× in this paper · explained in 3 episodes
• Lyapunov function — 2× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Energy Efficiency — 1× in this paper · explained in 3 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes

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