A Geometric Method of Generalized Hoverability and Robustness Analysis for Marine Inspection UAVs

Liyao Chang

Keywords: Maritime Infrastructure Inspections, Aerospace control, Geometric Hoverability

TL;DR: This paper presents a rigorous geometric method to deterministically evaluate the asymmetric payload capacity and rotor-failure robustness of generalized marine inspection UAVs.

Abstract: Close-proximity inspection of marine infrastructures requires UAVs to resist strong lateral sea breezes. To achieve the necessary decoupled control, multirotors with arbitrarily tilted rotors are increasingly deployed. However, existing geometric hoverability analyses assume strictly vertical rotors, rendering them mathematically invalid for the coupled 3D dynamics of generalized platforms. To address this, we mathematically decouple the full 6-DoF hovering equilibrium into internal moment balance and external force alignment. By introducing the Generalized Moment Vector (GMV), we prove a necessary and sufficient geometric condition: static hoverability requires the Center of Mass (CoM) to lie within the convex hull of the GMVs. Building on this criterion, we analytically construct the exact algebraic boundaries of the feasible CoM region. This method provides a deterministic design tool to evaluate asymmetric payload feasibility and rotor failure robustness, advancing the reliability of autonomous multirotors in high-risk offshore operations.

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Submission Number: 20