This work proposes a framework that generates and optimally selects task-specific assembly configurations for a large group of homogeneous modular aerial systems, explicitly enforcing bounds on inter-module downwash. Prior work largely focuses on planar layouts and often ignores aerodynamic interference. In contrast, firstly we enumerate non-isomorphic connection topologies at scale; secondly, we solve a nonlinear program to check feasibility and select the configuration that minimizes control input subject to actuation limits and downwash constraints. We evaluate the framework in physics-based simulation and demonstrate it in real-world experiments.

翻译：本研究提出一种框架，可为大规模同构模块化空中系统生成并优化选择面向特定任务的装配构型，该框架明确约束了模块间下洗流的边界范围。现有研究主要集中于平面布局设计，且常忽略空气动力干扰效应。相比之下，本框架首先大规模枚举非同构连接拓扑结构；其次通过求解非线性规划问题来验证可行性，并在驱动限制与下洗流约束条件下选择能最小化控制输入的构型。我们在基于物理的仿真环境中评估了该框架，并通过实际实验验证了其有效性。