Tilt as a Certified Resource: Preserving Motor Wrench-Rate Authority on Articulated Multirotors

arXiv:2609.21580 · cs.RO, cs.SY, eess.SY, math.OC · Submitted 2026-09-18 · Read on arXiv

cs.RO, cs.SY, eess.SY, math.OC

Submitted: 2026-09-18

Updated: 2026-09-18

Terminology

• Allocator — 20× in this paper · explained in 1 episode
• Degeneracy — 7× in this paper · explained in 3 episodes
• Control Barrier Function — 6× in this paper
• Redundancy — 4× in this paper · explained in 2 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Control Barrier Function (CBF) — 2× in this paper · explained in 5 episodes
• Decoupling — 2× in this paper · explained in 2 episodes
• Drag-Aware Aerodynamic Manipulability — 2× in this paper
• Trace — 2× in this paper · explained in 2 episodes
• Admissibility — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Fidelity — 1× in this paper · explained in 2 episodes

Sources

• Drag-Aware Aerodynamic Manipulability for Torque-Limited Redundant Multirotors: Aerodynamic Promptness based on the Symmetric Acceleration Capacity
• Task-Space Singularity Avoidance for Control Affine Systems Using Control Barrier Functions

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