[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-82401-en":3,"doc-seo-82401-105":28,"detail-sidebar-cat-0-en-105":89},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":4,"is_deleted":4,"is_public":20,"is_downloadable":20,"audit_status":20,"page_count":11,"language":21,"language_code":22,"site_id":23,"html_lang":22,"table_of_contents":24,"faqs":25,"seo_title":13,"seo_description":14,"update_tm":26,"read_time":27},82401,1099514068365,"Aurelia","https://ap-avatar.wpscdn.com/avatar/10000253d8d9f28188e?_k=1776742907772140068",8,"Research & Report","Task Adaptive Design of Modular Aerial Manipulators Under Airflow Exposure Constraints","A modular aerial manipulation framework addresses rotor-induced airflow as a key design limitation for tasks with airflow-sensitive targets and environments. The approach optimizes modular platform configuration together with end-effector placement by jointly enforcing task wrench feasibility and airflow exposure constraints. Target-side airflow tolerance is categorized and converted into geometric requirements, while rotor airflow is modeled using a compact cone-sphere envelope that remains optimization-friendly. Reconfiguration optimization also limits intra-platform interference through additional constraints, validated by scalability tests and ablation studies.","Task-Adaptive Design of Modular Aerial Manipulators Under Airflow Exposure Constraints  \nMengguang Li and Heinz Koeppl  \narXiv :2607 .09548v1 [ cs .RO] 10 Jul 2026  \nAbstract—Aerial manipulation with multirotor platforms enables physical interaction in complex environments, but rotorinduced airflow remains a critical limitation for tasks involving airflow-sensitive targets or surroundings. This paper presentsan optimization-based design framework for modular aerial manipulators that jointly considers task wrench feasibility, endeffector 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 targetside airflow exposure and intra-platform airflow interference constraints. Unlike prior designs that assume a fixed endeffector location, the proposed framework optimizes the endeffector placement together with the platform configuration. Scalability experiments and ablation studies validate the effectiveness of the proposed framework.  \nI. INTRODUCTION  \nAerial manipulation aims to enable physical interaction in elevated or otherwise hard-to-reach environments. Multirotor platforms are particularly attractive for such tasks due to their maneuverability, hovering capability, and mechanical simplicity. Recent prototypes have demonstrated high-precision task execution in aerial manipulation scenarios [1] . However, unlike ground-based manipulators, multirotor systems inevitably generate rotor-induced airflow, including inflow above the rotors and the wake flow beneath them, commonly referred to as downwash. This airflow can disturb the manipulated target, the surrounding environment, and even other parts of the aerial platform itself, thereby introducing additional design and control challenges [2] .  \nOne important but underexplored aspect is the airflow tolerance on the target side. For tasks involving airflowsensitive targets or environments, the platform must satisfy the required manipulation wrench while limiting rotorinduced airflow near the contact region and along the relevant flight path. Existing works have addressed this issue only partially. In [3], a non-interference sphere is introduced around the end-effector. While this provides a local protection region, it does not directly generalize to tasks requiring  \n*This work has been funded by the LOEWE initiative (Hesse, Germany) within the emergenCITY center [LOEWE/1/12/519/03/05.001(0016)/72] .  \nThe authors are with the Department of Electrical Engineering and Information Technology, Technische Universitt Darmstadt, 64287 Darmstadt, [Germany.](Germany. {mengguang.li)[ {](Germany. {mengguang.li)[mengguang.li](Germany. {mengguang.li) , [heinz.koeppl](heinz.koeppl}@tu-darmstadt.de)[}](heinz.koeppl}@tu-darmstadt.de)[@tu-darmstadt.de](heinz.koeppl}@tu-darmstadt.de)  \nFig. 1: An optimal configuration of a five-module platform that satisfies the task in Section III-C while respecting two target-side airflow requirements. Black squares represent modules, red arrows indicate each module’s z-axis, and blue rectangles denote the connected connectors. The green sphere marks the end-effector position, while the yellow sphere indicates the platform COM. The cyan line between them highlights the off-center end-effector placement. The purple and green-yellow volumes visualize the intra-platform and target-side airflow exposure envelopes, respectively.  \nairflow constraints along the interaction trajectory. Longreach aerial manipulators [4] increase the standoff distan","cbCait9SDz53WcyN","https://ap.wps.com/l/cbCait9SDz53WcyN","pdf",3740091,1,"English","en",105,"# Introduction\n## Target-side airflow tolerance and exposure requirements\n## Rotor-induced airflow on the platform side and geometric airflow models\n## Motivation for joint task and airflow-aware modular design","[{\"question\":\"What problem does the paper address in modular aerial manipulation?\",\"answer\":\"It addresses how rotor-induced airflow (including downwash) can limit tasks that involve airflow-sensitive targets or environments, creating additional design and control challenges.\"},{\"question\":\"How are target-side airflow tolerance requirements represented for optimization?\",\"answer\":\"The method introduces a categorization of target-side airflow tolerance and formulates the corresponding exposure requirements as geometric constraints.\"},{\"question\":\"What modeling technique is used to approximate rotor-induced airflow for efficient computation?\",\"answer\":\"It proposes a compact cone-sphere envelope that approximates the spreading structure of quadrotor airflow while keeping the optimization 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problem does the paper address in modular aerial manipulation?","Question",{"text":73,"@type":74},"It addresses how rotor-induced airflow (including downwash) can limit tasks that involve airflow-sensitive targets or environments, creating additional design and control challenges.","Answer",{"name":76,"@type":71,"acceptedAnswer":77},"How are target-side airflow tolerance requirements represented for optimization?",{"text":78,"@type":74},"The method introduces a categorization of target-side airflow tolerance and formulates the corresponding exposure requirements as geometric constraints.",{"name":80,"@type":71,"acceptedAnswer":81},"What modeling technique is used to approximate rotor-induced airflow for efficient computation?",{"text":82,"@type":74},"It proposes a compact cone-sphere envelope that approximates the spreading structure of quadrotor airflow while keeping the optimization 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