The universal finite-N N-5 scaling-law conjecture
The universal finite-N N-5 scaling-law conjecture
Let be the number of rotor directions and let denote the number of distinct one-dimensional solution branches. The numerical exhaustion method and solver resolution are the methods used to isolate these branches. The universal N-5 scaling-law conjecture. While was definitively observed for , we conjecture that this law holds for all finite . For , failure to strictly isolate branches is attributed to the resolution limit of the numerical methods and solver, rather than to a breakdown of the underlying algebraic structure. This extends the observed empirical relation beyond the tested range, but no proof or higher-precision symbolic verification is supplied.
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Primary source
Antonio Franchi, “The N-5 Scaling Law: Topological Dimensionality Reduction in the Optimal Design of Fully-actuated Multirotors”, arXiv:2512.23619 (2026).
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