@article{recedinghorizonnullspaceoptimizationfora,
  title = {Receding-Horizon Nullspace Optimization for Actuation-Aware Control Allocation in Omnidirectional UAVs},
  author = {Riccardo Pretto and Mahmoud Hamandi and Abdullah Mohamed Ali and Gokhan Alcan and Anthony Tzes and Fares Abu-Dakka},
  year = {2026},
  eprint = {2603.06832},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.06832},
}