Paper
Motion-Specific Battery Health Assessment for Quadrotors Using High-Fidelity Battery Models
Authors
Joonhee Kim, Sanghyun Park, Donghyeong Kim, Eunseon Choi, Soohee Han
Abstract
Quadrotor endurance is ultimately limited by battery behavior, yet most energy aware planning treats the battery as a simple energy reservoir and overlooks how flight motions induce dynamic current loads that accelerate battery degradation. This work presents an end to end framework for motion aware battery health assessment in quadrotors. We first design a wide range current sensing module to capture motion specific current profiles during real flights, preserving transient features. In parallel, a high fidelity battery model is calibrated using reference performance tests and a metaheuristic based on a degradation coupled electrochemical model.By simulating measured flight loads in the calibrated model, we systematically resolve how different flight motions translate into degradation modes loss of lithium inventory and loss of active material as well as internal side reactions. The results demonstrate that even when two flight profiles consume the same average energy, their transient load structures can drive different degradation pathways, emphasizing the need for motion-aware battery management that balances efficiency with battery degradation.
Metadata
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Raw Data (Debug)
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"raw_xml": "<entry>\n <id>http://arxiv.org/abs/2603.12791v1</id>\n <title>Motion-Specific Battery Health Assessment for Quadrotors Using High-Fidelity Battery Models</title>\n <updated>2026-03-13T08:52:51Z</updated>\n <link href='https://arxiv.org/abs/2603.12791v1' rel='alternate' type='text/html'/>\n <link href='https://arxiv.org/pdf/2603.12791v1' rel='related' title='pdf' type='application/pdf'/>\n <summary>Quadrotor endurance is ultimately limited by battery behavior, yet most energy aware planning treats the battery as a simple energy reservoir and overlooks how flight motions induce dynamic current loads that accelerate battery degradation. This work presents an end to end framework for motion aware battery health assessment in quadrotors. We first design a wide range current sensing module to capture motion specific current profiles during real flights, preserving transient features. In parallel, a high fidelity battery model is calibrated using reference performance tests and a metaheuristic based on a degradation coupled electrochemical model.By simulating measured flight loads in the calibrated model, we systematically resolve how different flight motions translate into degradation modes loss of lithium inventory and loss of active material as well as internal side reactions. The results demonstrate that even when two flight profiles consume the same average energy, their transient load structures can drive different degradation pathways, emphasizing the need for motion-aware battery management that balances efficiency with battery degradation.</summary>\n <category scheme='http://arxiv.org/schemas/atom' term='cs.RO'/>\n <published>2026-03-13T08:52:51Z</published>\n <arxiv:comment>8 pages. Accepted to IEEE International Conference on Robotics and Automation (ICRA) 2026</arxiv:comment>\n <arxiv:primary_category term='cs.RO'/>\n <author>\n <name>Joonhee Kim</name>\n </author>\n <author>\n <name>Sanghyun Park</name>\n </author>\n <author>\n <name>Donghyeong Kim</name>\n </author>\n <author>\n <name>Eunseon Choi</name>\n </author>\n <author>\n <name>Soohee Han</name>\n </author>\n </entry>"
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