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The N-5 Scaling Law: Topological Dimensionality Reduction in the Optimal Design of Fully-actuated Multirotors
We investigate the topological structure of the optimal actuation landscape for fully-actuated N-rotor aerial vehicles. By formulating the design problem on the 2N-dimensional product manifold of projective lines (RP^2)^N and minimizing a rotation-invariant Log-Volume isotropy metric, we map how opt
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