Drag-Aware Aerodynamic Manipulability for Torque-Limited Redundant Multirotors: Aerodynamic Promptness based on the Symmetric Acceleration Capacity

Aerodynamic promptness quantifies how rotor-speed variations generate multirotor wrench variations, but its Euclidean formulation assigns the same local cost to a given rotor acceleration at every operating speed. This work develops a capacity-aware extension for redundant multirotors with arbitrary