优化模块化无人机集群配置，避免气流干扰影响飞行稳定性。
Downwash-aware Configuration Optimization for Modular Aerial Systems
- 枚举非同构连接拓扑，构建大规模配置空间。
- 通过非线性规划最小化控制输入，满足推力与气流约束。
- 在仿真和真实实验中验证了配置优化的有效性。
本文提出一种框架，为大量同质模块化空中系统生成并最优选择任务特定的装配配置，明确限制模块间的下洗气流影响。以往工作主要关注平面布局，常忽略气动干扰。本研究首先大规模枚举非同构连接拓扑；其次求解非线性规划问题，检验可行性并选择在执行机构极限和下洗约束下控制输入最小的配置。我们在物理模拟环境中评估该框架，并在真实世界实验中进行了验证。
原文摘要 · Abstract (English)
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.
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