A Learning-based Quadcopter Controller with Extreme Adaptation Article Swipe
Dingqi Zhang
,
Antonio Loquercio
,
Jerry Tang
,
Ting-Hao Wang
,
Jitendra Malik
,
Mark W. Mueller
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2409.12949
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2409.12949
This paper introduces a learning-based low-level controller for quadcopters, which adaptively controls quadcopters with significant variations in mass, size, and actuator capabilities. Our approach leverages a combination of imitation learning and reinforcement learning, creating a fast-adapting and general control framework for quadcopters that eliminates the need for precise model estimation or manual tuning. The controller estimates a latent representation of the vehicle's system parameters from sensor-action history, enabling it to adapt swiftly to diverse dynamics. Extensive evaluations in simulation demonstrate the controller's ability to generalize to unseen quadcopter parameters, with an adaptation range up to 16 times broader than the training set. In real-world tests, the controller is successfully deployed on quadcopters with mass differences of 3.7 times and propeller constants varying by more than 100 times, while also showing rapid adaptation to disturbances such as off-center payloads and motor failures. These results highlight the potential of our controller in extreme adaptation to simplify the design process and enhance the reliability of autonomous drone operations in unpredictable environments. The video and code are at: https://github.com/muellerlab/xadapt_ctrl
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2409.12949
- https://arxiv.org/pdf/2409.12949
- OA Status
- green
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4403748161
All OpenAlex metadata
Raw OpenAlex JSON
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https://openalex.org/W4403748161Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2409.12949Digital Object Identifier
- Title
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A Learning-based Quadcopter Controller with Extreme AdaptationWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2024Year of publication
- Publication date
-
2024-09-19Full publication date if available
- Authors
-
Dingqi Zhang, Antonio Loquercio, Jerry Tang, Ting-Hao Wang, Jitendra Malik, Mark W. MuellerList of authors in order
- Landing page
-
https://arxiv.org/abs/2409.12949Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2409.12949Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2409.12949Direct OA link when available
- Concepts
-
Quadcopter, Adaptation (eye), Computer science, Controller (irrigation), Psychology, Engineering, Aerospace engineering, Biology, Neuroscience, AgronomyTop concepts (fields/topics) attached by OpenAlex
- Cited by
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0Total citation count in OpenAlex
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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