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These intentions consist of topology and attitude changes, which can be combined in various ways to describe intricate flight maneuvers. A spatial-temporal joint optimization trajectory planner is also introduced to generate dynamically feasible trajectories that are as smooth as possible and devoid of collisions. In addition, we investigate unique yaw sensitivity issues in aerobatic flight and identify the inherent influence of differential flatness singularities on yaw rotations while avoiding associated dynamics issues. A series of ablation studies confirmed the necessity of these spatial-temporal joint optimization and yaw compensation strategies. Additional simulations and physical experiments validated the stability and feasibility of our proposed system for improving uncrewed aerial flight. The proposed system enables drones to autonomously achieve flight performance usually reserved for professional pilots, unlocking boundless potential for aerobatic flight evolution in uncrewed aerial vehicles.<\/jats:p>","DOI":"10.1126\/scirobotics.adp9905","type":"journal-article","created":{"date-parts":[[2025,4,16]],"date-time":"2025-04-16T18:00:57Z","timestamp":1744826457000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":16,"title":["Unlocking aerobatic potential of quadcopters: Autonomous freestyle flight generation and execution"],"prefix":"10.1126","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5475-1737","authenticated-orcid":true,"given":"Mingyang","family":"Wang","sequence":"first","affiliation":[{"name":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5157-4205","authenticated-orcid":true,"given":"Qianhao","family":"Wang","sequence":"additional","affiliation":[{"name":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3718-2605","authenticated-orcid":true,"given":"Ze","family":"Wang","sequence":"additional","affiliation":[{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."},{"name":"College of Optical Science and Engineering, Zhejiang University, Hangzhou, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0377-770X","authenticated-orcid":true,"given":"Yuman","family":"Gao","sequence":"additional","affiliation":[{"name":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}]},{"given":"Jingping","family":"Wang","sequence":"additional","affiliation":[{"name":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6383-3400","authenticated-orcid":true,"given":"Can","family":"Cui","sequence":"additional","affiliation":[{"name":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-3622-0522","authenticated-orcid":true,"given":"Yuan","family":"Li","sequence":"additional","affiliation":[{"name":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}]},{"given":"Ziming","family":"Ding","sequence":"additional","affiliation":[{"name":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}]},{"given":"Kaiwei","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Optical Science and Engineering, Zhejiang University, Hangzhou, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2759-6364","authenticated-orcid":true,"given":"Chao","family":"Xu","sequence":"additional","affiliation":[{"name":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6513-374X","authenticated-orcid":true,"given":"Fei","family":"Gao","sequence":"additional","affiliation":[{"name":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."},{"name":"Differential Robotics Technology Co., Ltd., Hangzhou, China."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","unstructured":"BBC \u201cHow sparrowhawks catch garden birds - life in the air: Episode 2 preview\u201d (2016); 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