Gradient-based Nested Co-Design of Aerodynamic Shape and Control for Winged Robots

ArXi:2603.06760v1 Announce Type: cross Designing aerial robots for specialized tasks, from perching to payload delivery, requires tailoring their aerodynamic shape to specific mission requirements. For tasks involving wide flight envelopes, the usual sequential process of first determining the shape and then the motion planner is likely to be suboptimal due to the inherent nonlinear interactions between them. This limitation has been motivating co-design research, which involves jointly optimizing the aerodynamic shape and the motion planner.