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Improved constraint margins under parametric uncertainty lead to tracking performance that rivals traditional NMPC methods, even in challenging aerial maneuvers.
Orthogonal manifold-derived control allocation can completely avoid geometric rank-loss and boundary-crossing singularities in signed-quadratic actuation systems, unlike classical pseudo-linear methods.
Tilting your drone's propellers isn't just for agility – it can be a game-changer for maintaining comms under jamming attacks, boosting link reliability by orders of magnitude.
