Web: http://arxiv.org/abs/2209.10007

Sept. 22, 2022, 1:11 a.m. | Andrea Tagliabue (1), Yi-Hsuan Hsiao (2), Urban Fasel (3), J. Nathan Kutz (4), Steven L. Brunton (5), YuFeng Chen (2), Jonathan P. How (1) ((1) Depart

cs.LG updates on arXiv.org arxiv.org

Accurate and agile trajectory tracking in sub-gram Micro Aerial Vehicles
(MAVs) is challenging, as the small scale of the robot induces large model
uncertainties, demanding robust feedback controllers, while the fast dynamics
and computational constraints prevent the deployment of computationally
expensive strategies. In this work, we present an approach for agile and
computationally efficient trajectory tracking on the MIT SoftFly, a sub-gram
MAV (0.7 grams). Our strategy employs a cascaded control scheme, where an
adaptive attitude controller is combined with …

arxiv rate robots scale tracking

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