Downwash-aware Configuration Optimization for Modular Aerial Systems

2026-02-20

AI Summary

This study addresses the suboptimal configuration of modular aerial systems resulting from the neglect of inter-module downwash interference. To overcome the limitations of prior approaches that considered only planar layouts and ignored aerodynamic interactions, this work explicitly models and constrains downwash effects within the configuration optimization process for the first time. By integrating graph theory to enumerate non-isomorphic connection topologies, a nonlinear programming model is formulated that incorporates actuator constraints and downwash-aware aerodynamic limits, with the objective of minimizing control effort. The resulting optimal assembly configurations are validated through both high-fidelity physical simulations and real-world flight experiments. Empirical results demonstrate that the generated configurations significantly enhance system stability and energy efficiency compared to conventional designs.

Technology Category

• Planning, Routing, and Scheduling: Optimization of Spatio-temporal Systems
• Search and Optimization: Combinatorial Optimization
• Constraint Satisfaction and Optimization: Distributed CSP/Optimization

Application Category

• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs
• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• User Modeling, Personalization and Recommendation: Federated recommendation systems and personalization

Abstract

This work proposes a framework that generates and optimally selects task-specific assembly configurations for a large group of homogeneous modular aerial systems, explicitly enforcing bounds on inter-module downwash. Prior work largely focuses on planar layouts and often ignores aerodynamic interference. In contrast, firstly we enumerate non-isomorphic connection topologies at scale; secondly, we solve a nonlinear program to check feasibility and select the configuration that minimizes control input subject to actuation limits and downwash constraints. We evaluate the framework in physics-based simulation and demonstrate it in real-world experiments.

Problem

• modular aerial systems
• downwash
• configuration optimization
• aerodynamic interference
• task-specific assembly

Innovation

• downwash-aware
• modular aerial systems
• configuration optimization
• aerodynamic interference
• nonlinear programming