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cs.RO2025
External-Wrench Estimation for Aerial Robots Exploiting a Learned Model
Ayham Alharbat, Gabriele Ruscelli, Roberto Diversi +1
This paper presents an external wrench estimator that uses a hybrid dynamics model consisting of a first-principles model and a neural network. This framework addresses one of the…
cs.RO2025
RL-based Control of UAS Subject to Significant Disturbance
Kousheek Chakraborty, Thijs Hof, Ayham Alharbat +1
This paper proposes a Reinforcement Learning (RL)-based control framework for position and attitude control of an Unmanned Aerial System (UAS) subjected to significant disturbance…