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cs.RO2025
Aerobatic maneuvers in insect-scale flapping-wing aerial robots via deep-learned robust tube model predictive control
Yi-Hsuan Hsiao, Andrea Tagliabue, Owen Matteson +4
Aerial insects exhibit highly agile maneuvers such as sharp braking, saccades, and body flips under disturbance. In contrast, insect-scale aerial robots are limited to tracking non…
cs.RO2025
Hovering Flight of Soft-Actuated Insect-Scale Micro Aerial Vehicles using Deep Reinforcement Learning
Yi-Hsuan Hsiao, Wei-Tung Chen, Yun-Sheng Chang +2
Soft-actuated insect-scale micro aerial vehicles (IMAVs) pose unique challenges for designing robust and computationally efficient controllers. At the millimeter scale, fast robot…