Drag-Aware Trajectory Generation for Quadrotor Systems
Learned drag-aware trajectory planning with Crazyflie sim-to-real validation.
Trained a 3-layer MLP on 200,000 simulated trajectories to learn a drag-aware tracking-cost model, then integrated it into trajectory optimization with an SE(3) controller. The system achieved 83% lower tracking error and a 49% lower crash rate in simulation, with successful Crazyflie hardware flights.
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