Delay-Certified Readiness Barriers for Overactuated Multirotor Allocation Without Lipschitz Constants
Delay-Certified Readiness Barriers for Overactuated Multirotor Allocation Without Lipschitz Constants
This research introduces a method to maintain readiness barriers in overactuated multirotors without relying on Lipschitz constants. By exploiting the monotonic response of rotors to torque, the authors develop a Lipschitz-free test that ensures commands keep readiness above a specified floor until the next sample, along with a fallback torque mechanism. Simulations of hexarotors with delays ranging from 2 to 40 ms and jitter of ±2 ms demonstrate that the filter never violated the readiness floor. At 10±2 ms delay, the method matched a delay-compensating predictor within the design envelope, incurring only 2-30% more tracking error beyond it, whereas the predictor alone violated the floor in 2 to 16 out of 16 missions.
The paper presents a novel method for ensuring readiness barriers in overactuated multirotor systems without relying on Lipschitz constants, validated through hexarotor simulations with varying delays and jitter.
Source: arXiv Robotics — research abstracts · Read original article ↗
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the next sample, plus a fallback torque that keeps the vehicle on a certified plan. In hexarotor simulations with 2--40~ms delays and $\pm2$~ms jitter, the filter never violated the floor. At $10\pm2$~ms, it matched a delay-compensating predictor within the design envelope and cost 2--30\% more tracking error beyond it, where the predictor alone violated the floor in 2 to 16 of 16 missions.
Open source S4
arXiv:2611.03490v1 Announce Type: new Abstract: Overactuated multirotors can produce the same wrench with many rotor-speed combinations, some of which leave the vehicle unable to change its wrench quickly, e.g., to reject a gust. Readiness barriers keep this ability, the readiness, above a floor, but only in continuous time; with sampled commands and varying speed-controller delays, the available robustness bound cov
Open source S2
ers less than one millisecond. We remove this limit by exploiting the structure of the problem: each rotor responds monotonically and in closed form to its own torque, so the speeds reachable under uncertain switching times lie in a cheaply computed box, and the lowest readiness over that box sits at a corner known in advance. This yields a Lipschitz-free test that a command keeps the readiness above its floor until
Open source S3
Source：arXiv Robotics — research abstracts · arxiv.org