Optimal configurations for regular-chassis fully-actuated multirotors reduce to N-5 disconnected 1D topological branches corresponding to star polygons {N/q}.
In: Aerial Robotic Manipulation, Springer Tracts in Advanced Robotics, volume 129
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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}.