# Influence of Static and Dynamic Downwash Interactions on Multi-Quadrotor Systems

arXiv: https://arxiv.org/abs/2507.09463 · HTML: https://mlsanity.com/paper/2507.09463/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 13 Jul 2025.

## Built on by (most cited first, 2 of 2)

- [Learning Turbulent Flows with Generative Models: Super-resolution, Forecasting, and Sparse Flow Reconstruction](https://mlsanity.com/paper/2509.08752/) (2025)
- [Wake Up to the Past: Using Memory to Model Fluid Wake Effects on Robots](https://mlsanity.com/paper/2603.22472/) (2026)

## Abstract (arXiv)

Flying multiple quadrotors in close proximity presents a significant challenge due to complex aerodynamic interactions, particularly downwash effects that are known to destabilize vehicles and degrade performance. Traditionally, multi-quadrotor systems rely on conservative strategies, such as collision avoidance zones around the robot volume, to circumvent this effect. This restricts their capabilities by requiring a large volume for the operation of a multi-quadrotor system, limiting their applicability in dense environments. This work provides a comprehensive, data-driven analysis of the downwash effect, with a focus on characterizing, analyzing, and understanding forces, moments, and velocities in both single and multi-quadrotor configurations. We use measurements of forces and torques to characterize vehicle interactions, and particle image velocimetry (PIV) to quantify the spatial features of the downwash wake for a single quadrotor and an interacting pair of quadrotors. This data can be used to inform physics-based strategies for coordination, leverage downwash for optimized formations, expand the envelope of operation, and improve the robustness of multi-quadrotor control.