{
  "abstract": "Allocation schemes that greedily maximize a readiness metric over the actuator fiber bundle of an overactuated multirotor produce commands that jump between disconnected optimal strata, demanding actuator rates no motor can deliver; effort-minimizing schemes are continuous but cannot guarantee that wrench-rate authority stays above any certified level. We reconcile the two by treating authority as a forward-invariant quantity: a control barrier function on the log-determinant of the drag-aware actuator-authority co-metric, enforced at torque level by a quadratic program in the allocation null space. A single design inequality renders the certified set compact and strictly interior to the actuator box, with the readiness cost of any rotor deactivation given in closed form as $\\ln(n/(n{-}m))$ for symmetric designs. An explicit alignment ratio states when tracking can stay exact, otherwise the wrench error is bounded by $\\mathcal{O}(ρ^{-1/2})$, and a robust variant handles motor-parameter uncertainty with a closed-form floor shift independent of the airframe matrix. On a hexarotor and a fully-actuated octorotor the closed-form gap matches simulation to machine precision. Over $300$ randomized missions, greedy maximization violates the certified floor in up to $51\\%$ of authority-scarce missions, while the proposed filter never leaves the certified set and, in the hardest moment reversal, commits a $79\\times$ smaller wrench error. The robust variant holds the floor on all $150$ perturbed plants. A high-fidelity simulation with measured propeller and motor data shows that the floor holds under unmodeled aerodynamics, electrical limits, and delay, and where it stops applying.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": null,
  "arxiv": "2608.16335",
  "author_total": 1,
  "authors": [
    {
      "name": "Giuseppe Silano"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/7pvseyk2n3h1c.bib",
  "cited_by": 0,
  "doi": "10.48550/arxiv.2608.16335",
  "fulltext_url": null,
  "id": "7pvseyk2n3h1c",
  "issns": [],
  "landing_url": "https://arxiv.org/abs/2608.16335",
  "language": null,
  "licence": "CC-BY-4.0",
  "licence_label": "CC BY 4.0",
  "licence_source": "article",
  "licence_url": "http://creativecommons.org/licenses/by/4.0/",
  "metadata_licence": "CC0-1.0",
  "native_subjects": [
    [
      "arxiv",
      "cs.RO"
    ],
    [
      "arxiv",
      "cs.SY"
    ],
    [
      "arxiv",
      "eess.SY"
    ],
    [
      "arxiv",
      "math.OC"
    ],
    [
      "openalex",
      "2207|Adaptive Control of Nonlinear Systems"
    ]
  ],
  "openalex": "W7203700538",
  "pdf_url": "https://arxiv.org/pdf/2608.16335",
  "pmcid": null,
  "pmid": null,
  "published": "2026-10-19",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/7pvseyk2n3h1c.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:34:08Z",
      "native_id": "2608.16335",
      "source": "arxiv",
      "url": "https://arxiv.org/abs/2608.16335"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "arxiv:math.OC",
      "subfield": "optimisation-control"
    }
  ],
  "title": "Readiness Barrier Functions: Forward-Invariant Control Authority for Overactuated Multirotor Allocation",
  "title_text": "Readiness Barrier Functions: Forward-Invariant Control Authority for Overactuated Multirotor Allocation",
  "type": "preprint",
  "updated_at": "2026-10-30T12:34:08Z",
  "url": "https://research.draconitic.com/paper/7pvseyk2n3h1c",
  "venue": "arXiv",
  "versions": []
}