Optimal configurations for regular-chassis fully-actuated multirotors reduce to N-5 disconnected 1D topological branches corresponding to star polygons {N/q}.
The International Journal of Robotics Research 38(9): 1045--1062
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INDI exhibits stronger robustness than NDI+NDO under model mismatch, external disturbances, and measurement noise in simulation tests of aerial robot control.
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The N-5 Scaling Law: Topological Dimensionality Reduction in the Optimal Design of Fully-actuated Multirotors
Optimal configurations for regular-chassis fully-actuated multirotors reduce to N-5 disconnected 1D topological branches corresponding to star polygons {N/q}.
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A Comparative Study of INDI and NDI with Nonlinear Disturbance Observer for Aerial Robotics
INDI exhibits stronger robustness than NDI+NDO under model mismatch, external disturbances, and measurement noise in simulation tests of aerial robot control.