{
  "abstract": "Overactuated multirotors can produce the same wrench with many rotor-speed combinations, some of which leave the vehicle unable to change its wrench quickly, e.g., to reject a gust. Readiness barriers keep this ability, the readiness, above a floor, but only in continuous time; with sampled commands and varying speed-controller delays, the available robustness bound covers less than one millisecond. We remove this limit by exploiting the structure of the problem: each rotor responds monotonically and in closed form to its own torque, so the speeds reachable under uncertain switching times lie in a cheaply computed box, and the lowest readiness over that box sits at a corner known in advance. This yields a Lipschitz-free test that a command keeps the readiness above its floor until the next sample, plus a fallback torque that keeps the vehicle on a certified plan. In hexarotor simulations with 2--40~ms delays and $\\pm2$~ms jitter, the filter never violated the floor. At $10\\pm2$~ms, it matched a delay-compensating predictor within the design envelope and cost 2--30\\% more tracking error beyond it, where the predictor alone violated the floor in 2 to 16 of 16 missions.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": null,
  "arxiv": "2611.03490",
  "author_total": 1,
  "authors": [
    {
      "name": "Giuseppe Silano"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/4wbycmzh4thny.bib",
  "cited_by": 0,
  "doi": "10.48550/arxiv.2611.03490",
  "fulltext_url": null,
  "id": "4wbycmzh4thny",
  "issns": [],
  "landing_url": "https://arxiv.org/abs/2611.03490",
  "language": null,
  "licence": "LicenseRef-arXiv-nonexclusive-1.0",
  "licence_label": "arXiv licence",
  "licence_source": "article",
  "licence_url": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
  "metadata_licence": "CC0-1.0",
  "native_subjects": [
    [
      "arxiv",
      "cs.RO"
    ],
    [
      "arxiv",
      "cs.SY"
    ],
    [
      "arxiv",
      "eess.SY"
    ],
    [
      "arxiv",
      "math.OC"
    ]
  ],
  "openalex": null,
  "pdf_url": "https://arxiv.org/pdf/2611.03490",
  "pmcid": null,
  "pmid": null,
  "published": "2026-11-02",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/4wbycmzh4thny.ris",
  "sources": [
    {
      "first_seen": "2026-11-03T12:21:14Z",
      "native_id": "2611.03490",
      "source": "arxiv",
      "url": "https://arxiv.org/abs/2611.03490"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "arxiv:math.OC",
      "subfield": "optimisation-control"
    }
  ],
  "title": "Delay-Certified Readiness Barriers for Overactuated Multirotor Allocation Without Lipschitz Constants",
  "title_text": "Delay-Certified Readiness Barriers for Overactuated Multirotor Allocation Without Lipschitz Constants",
  "type": "preprint",
  "updated_at": "2026-11-05T15:20:28Z",
  "url": "https://research.draconitic.com/paper/4wbycmzh4thny",
  "venue": "arXiv",
  "versions": []
}