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cs.RO2026
Fiber-Normalized Manipulability and Determinant Proxies: Intrinsic Redundancy Optimization Across and Within Task Fibers
Antonio Franchi, Mirko Mizzoni
This work establishes that determinant-based manipulability is an exact objective for fixed-task redundancy optimization, despite its dependence on task coordinates and the choice…
cs.RO2026
Differential Realizability of Static Control Allocation in Multirotors: An Impossibility under Nonredundant Full Actuation and a Pseudoinverse Obstruction under Redundant Actuation
Antonio Franchi, Mirko Mizzoni
Control allocation for multirotors with bidirectional propellers is commonly formulated in signed-thrust variables, where the wrench map is linear. The signed-quadratic map from ph…
cs.RO2026
Stability Analysis of Geometric Control for a Canonical Class of Underactuated Aerial Vehicles with Spurious Forces
Simone Orelli, Mirko Mizzoni, Antonio Franchi
Standard geometric control relies on force-moment decoupling, an assumption that breaks down in many aerial platforms due to spurious forces naturally induced by control moments. W…