An Online Acoustic Simulation Model for Multicopters as a Foundation for Flight Path Optimization

Gründer A, Geiger M, Kalenberg M, Benz J, Becker S, Franke J, Reitelshöfer S (2026)

Publication Type: Conference contribution

Publication year: 2026

Publisher: IEEE Computer Society

Pages Range: 118-123

Conference Proceedings Title: Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO

Event location: Vienna

ISBN: 9798331564452

DOI: 10.1109/ARSO68304.2026.11536142

Abstract

The rapid adoption of autonomous multicopters in low-altitude airspace has necessitated new noise mitigation strategies. As mechanical noise reduction reaches its physical limits, trajectory optimization via intelligent agents offers a complementary solution. However, training such agents, specifically via Reinforcement Learning, is hindered by the lack of simulation environments that couple rigid-body dynamics with acoustic emission models. In this paper, we present an online acoustic simulation framework for multicopters. We introduce a parametric acoustic model that operates entirely in the frequency domain, bypassing the computational overhead of Fast Fourier Transforms (FFT). It accounts for propeller speed, flight state, and environmental factors, integrated within the Robot Operating System 2 (ROS 2) with an interface to the PX4-Autopilot Software-in-the-Loop (SITL). We validate the model by comparing simulated observer signals with real-world acoustic flight data. The results show low errors in simulated overflights for A-weighted spectra ranging between 2.5 % and 9 %. This validation demonstrates the viability of our modeling approach as a tool for training acoustic-aware autonomous multicopter agents.

Authors with CRIS profile

How to cite

APA:

Gründer, A., Geiger, M., Kalenberg, M., Benz, J., Becker, S., Franke, J., & Reitelshöfer, S. (2026). An Online Acoustic Simulation Model for Multicopters as a Foundation for Flight Path Optimization. In Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO (pp. 118-123). Vienna, AT: IEEE Computer Society.

MLA:

Gründer, Andreas, et al. "An Online Acoustic Simulation Model for Multicopters as a Foundation for Flight Path Optimization." Proceedings of the 2026 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2026, Vienna IEEE Computer Society, 2026. 118-123.

BibTeX: Download