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cs.RO2026
Direct Rotor Thrust Sensing and Feedback Control for Disturbance Rejection of Multirotors Using Load-cells
Peter Böhm, Michael Brünig, Peyman Z. Moghadam +1
Gust disturbances, dynamic vertical inflow and ground effect are key adverse aerodynamic phenomena that induce variations in the forces acting on a multirotor and complicate its fl…
cs.RO2025
Training Directional Locomotion for Quadrupedal Low-Cost Robotic Systems via Deep Reinforcement Learning
Peter Böhm, Archie C. Chapman, Pauline Pounds
In this work we present Deep Reinforcement Learning (DRL) training of directional locomotion for low-cost quadrupedal robots in the real world. In particular, we exploit randomizat…