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Tilt as a Certified Resource: Preserving Motor Wrench-Rate Authority on Articulated Multirotors

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Fully-actuated multirotor aerial vehicles must not only track nominal wrenches but retain the "readiness" to modulate them rapidly under disturbances. Classical effort-minimizing allocators ignore this dynamic limit, whereas maximizing readiness leads to topologically disconnected optimal sheets demanding physically impossible actuator rates. Enforcing a readiness safety floor on fixed-geometry symmetric platforms further encounters a zero-sum degeneracy: motor-speed redistribution cannot improve authority without conceding wrench tracking. This paper uses active morphology to break the degene

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