Optimal configurations for regular-chassis fully-actuated multirotors reduce to N-5 disconnected 1D topological branches corresponding to star polygons {N/q}.
IEEE Robotics and Automation Letters (RA-L) 3(3): 2277--2282
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An open-sourced Unified Autonomy Stack fuses LiDAR, radar, vision and inertial data with sampling-based planning and control barrier functions to deliver resilient autonomy on aerial and ground robots in challenging real-world settings.
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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}.
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The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy
An open-sourced Unified Autonomy Stack fuses LiDAR, radar, vision and inertial data with sampling-based planning and control barrier functions to deliver resilient autonomy on aerial and ground robots in challenging real-world settings.