{"ID":6497612,"CreatedAt":"2026-07-13T01:19:40.13847098Z","UpdatedAt":"2026-07-14T01:36:59.12045529Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2607.09548","arxiv_id":"2607.09548","title":"Task-Adaptive Design of Modular Aerial Manipulators Under Airflow Exposure Constraints","abstract":"Aerial manipulation with multirotor platforms enables physical interaction in complex environments, but rotor-induced airflow remains a critical limitation for tasks involving airflow-sensitive targets or surroundings. This paper presents an optimization-based design framework for modular aerial manipulators that jointly considers task wrench feasibility, end-effector placement, and airflow exposure constraints. We first introduce a novel categorization of target-side airflow tolerance and formulate the corresponding exposure requirements as geometric constraints. To efficiently model rotor-induced airflow, we introduce a compact cone-sphere envelope that approximates the spreading structure of a quadrotor's airflow while preserving computational tractability for optimization. Building on this formulation, we propose a reconfiguration optimization that adapts a modular aerial manipulator to diverse task wrench requirements while enforcing both target-side airflow exposure and intra-platform airflow interference constraints. Unlike prior designs that assume a fixed end-effector location, the proposed framework optimizes the end-effector placement together with the platform configuration. Scalability experiments and ablation studies validate the effectiveness of the proposed framework.","short_abstract":"Aerial manipulation with multirotor platforms enables physical interaction in complex environments, but rotor-induced airflow remains a critical limitation for tasks involving airflow-sensitive targets or surroundings. This paper presents an optimization-based design framework for modular aerial manipulators that joint...","url_abs":"https://arxiv.org/abs/2607.09548","url_pdf":"https://arxiv.org/pdf/2607.09548v1","authors":"[\"Mengguang Li\",\"Heinz Koeppl\"]","published":"2026-07-10T15:58:37Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}