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FALCON-S: Fixed-wing ground-effect Aerodynamics Simulator and Flight Control Learning Suite

arXiv · AI, language, vision and robotics · article · Sep 5, 2026 · UTC

We present a modular, high-fidelity simulation framework for the development and benchmarking of flight control strategies in fixed-wing aerial robots operating near the ground. Unlike existing simulators that rely on simplified or hover-oriented dynamics, our framework models full 6DoF rigid-body physics, semi-empirical ground-effect aerodynamics, actuator dynamics, sensor noise, and environmental disturbances. This physical realism, combined with modular component design, enables systematic analysis of low-altitude flight behavior under realistic conditions. The simulator supports both CPU a

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