Abstract: This paper investigates advanced torque allocation strategies for multi-motor electric vehicles (EVs) to improve energy efficiency while maintaining longitudinal dynamics and comfort. A ...

1. Acquire the ``torque_armed_profile`` fixture (ACRO-armed, profile running) Collect ATTITUDE samples from ArduPilot SITL for the full test duration. Keeps the motor interlock (CH8=2000) alive every ...

fighting the wobble-induced gyro Z contamination rather than holding steady. On hardware, the actual P gain will be tuned from measured k_bearing. """Wobble with P=0.05 — motor visibly pulses at ...

April 15, 2026 • Neuroscientist Paul Nuyujukian likens the brain to a stadium full of people. To eavesdrop on the crowd you could put a microphone in the middle of the stadium. But to understand the ...