Robotics: Science and Systems XXI

Influence of Static and Dynamic Downwash Interactions on Multi-Quadrotor Systems

Anoop Kiran, Nora Ayanian, Kenneth Breuer

Abstract:

Flying multiple quadrotors in close proximity presents a significant challenge due to complex aerodynamic interactions, particularly downwash effects that are known to destabilize vehicles and degrade performance. Traditionally, multi-quadrotor systems rely on conservative strategies, such as collision avoidance zones around the robot volume, to circumvent this effect. This restricts their capabilities by requiring a large volume for the operation of a multi-quadrotor system, limiting their applicability in dense environments. This work provides a comprehensive, data-driven analysis of the downwash effect, with a focus on characterizing, analyzing, and understanding forces, moments, and velocities in both single and multi-quadrotor configurations. We use measurements of forces and torques to characterize vehicle interactions, and particle image velocimetry (PIV) to quantify the spatial features of the downwash wake for a single quadrotor and an interacting pair of quadrotors. This data can be used to inform physics-based strategies for coordination, leverage downwash for optimized formations, expand the envelope of operation, and improve the robustness of multi-quadrotor control.

Download:

Bibtex:

  
@INPROCEEDINGS{KiranA-RSS-25, 
    AUTHOR    = {Anoop Kiran AND Nora Ayanian AND Kenneth Breuer}, 
    TITLE     = {{Influence of Static and Dynamic Downwash Interactions on Multi-Quadrotor Systems}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2025}, 
    ADDRESS   = {LosAngeles, CA, USA}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2025.XXI.102} 
}