SO(2)-Equivariant Downwash Models for Close Proximity Flight

arXiv:2305.18983v3 Announce Type: replace-cross
Abstract: Multirotors flying in close proximity induce aerodynamic wake effects on each other through propeller downwash. Conventional methods have fallen short of providing adequate 3D force-based models that can be incorporated into robust control paradigms for deploying dense formations. Thus, learning a model for these downwash patterns presents an attractive solution. In this paper, we present a novel learning-based approach for modelling the downwash forces that exploits the latent geometries (i.e. symmetries) present in the problem. …

abstract arxiv control cs.ai cs.lg cs.ro effects flying patterns robust through type