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

The paper introduces a capacity‑aware extension of aerodynamic promptness for redundant multirotors with heterogeneous rotors. It defines the symmetric acceleration capacity (SAC) as the largest zero‑centered rotor‑acceleration interval under bounded torque and drag, and uses SAC to induce a Riemannian metric that yields a state‑attached task‑rate capability matrix and ellipsoid. The resulting drag‑aware aerodynamic manipulability (DAAM) index and its fiberwise maximization provide a task‑coordinate‑invariant criterion for selecting actuator states, demonstrated in low‑dimensional rotor studies and a two‑rotor allocation case that improves force‑tracking performance compared to the pseudoinverse.

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