Investigating the Effects of Polynomial Trajectories on Energy Consumption of Quadrotors
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Bibliographic record
Abstract
This article focuses on investigating the effect of quadrotor's trajectory, especially polynomial trajectories, on its energy consumption. First, model-free expressions for power and energy quotients are introduced to relate quadrotor's power and energy directly to its acceleration. This allows to qualitatively estimate quadrotor's energy consumption and compare the effect of different trajectories on energy consumption of identical or different quadrotors independent of quadrotor's manufacturing specifications. Then, polynomial trajectories are analytically investigated for rest-to-rest 1-D scenarios. Scenarios in 3-D with arbitrary kinematic boundary conditions are analyzed via Monte Carlo Simulations with a sample of 10 000 sets of arbitrary boundary conditions. Polynomial trajectories are compared to energy-minimized trajectories in the literature. The results show that increasing the degree of the polynomial increases quadrotor's energy consumption. Moreover, this article suggests using minimum acceleration trajectories as energy-efficient polynomial trajectories. Finally, the results are validated experimentally.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it