6 papers
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…
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…
Cooperative Bearing-Only Target Pursuit via Multiagent Reinforcement Learning: Design and Experiment
Jianan Li, Zhikun Wang, Susheng Ding +2
This paper addresses the multi-robot pursuit problem for an unknown target, encompassing both target state estimation and pursuit control. First, in state estimation, we focus on u…
EvDetMAV: Generalized MAV Detection from Moving Event Cameras
Yin Zhang, Zian Ning, Xiaoyu Zhang +3
Existing micro aerial vehicle (MAV) detection methods mainly rely on the target's appearance features in RGB images, whose diversity makes it difficult to achieve generalized MAV d…