4 papers · 1 filter
Guiding Vector Field Generation via Score-based Diffusion Model
Zirui Chen, Shiliang Guo, Shiyu Zhao
Guiding Vector Fields (GVFs) are a powerful tool for robotic path following. However, classical methods assume smooth, ordered curves and fail when paths are unordered, multi-branc…
Multi-Task Reinforcement Learning of Drone Aerobatics by Exploiting Geometric Symmetries
Zhanyu Guo, Zikang Yin, Guobin Zhu +2
Flight control for autonomous micro aerial vehicles (MAVs) is evolving from steady flight near equilibrium points toward more aggressive aerobatic maneuvers, such as flips, rolls,…
PreGME: Prescribed Performance Control of Aerial Manipulators based on Variable-Gain ESO
Mengyu Ji, Shiliang Guo, Zhengzhen Li +3
An aerial manipulator, comprising a multirotor base and a robotic arm, is subject to significant dynamic coupling between these two components. Therefore, achieving precise and rob…
TACO: General Acrobatic Flight Control via Target-and-Command-Oriented Reinforcement Learning
Zikang Yin, Canlun Zheng, Shiliang Guo +2
Although acrobatic flight control has been studied extensively, one key limitation of the existing methods is that they are usually restricted to specific maneuver tasks and cannot…