4 papers · 1 filter
Intercepting an Agile Target with Net-Carrying Drones using Competitive Multi-Agent Reinforcement Learning
Timothée Gavin, Murat Bronz
This article presents a solution to intercept an agile drone by a team of agile drone carrying catching nets. We formulate the problem as a competitive Multi-Agent Reinforcement Le…
Agile Interception of a Flying Target using Competitive Reinforcement Learning
Timothée Gavin, Simon Lacroix, Murat Bronz
This article presents a solution to intercept an agile drone by another agile drone carrying a catching net. We formulate the interception as a Competitive Reinforcement Learning p…
Full-Pose Tracking via Robust Control for Over-Actuated Multirotors
Mohamad Hachem, Clément Roos, Thierry Miquel +1
This paper presents a robust cascaded control architecture for over-actuated multirotors. It extends the Incremental Nonlinear Dynamic Inversion (INDI) control combined with struct…
Improving Incremental Nonlinear Dynamic Inversion Robustness Using Robust Control in Aerial Robotics
Mohamad Hachem, Clément Roos, Thierry Miquel +1
Improving robustness to uncertainty and rejection of external disturbances represents a significant challenge in aerial robotics. Nonlinear controllers based on Incremental Nonline…