Free Energy Principle for State and Input Estimation of a Quadcopter Flying in Wind
Fred Bos,Ajith Anil Meera,Dennis Benders,Martijn Wisse,Fred Bos,Ajith Anil Meera,Dennis Benders,Martijn Wisse
The free energy principle from neuroscience provides a brain-inspired perception scheme through a data-driven model learning algorithm called Dynamic Expectation Maximization (DEM). This paper aims at introducing an exper-imental design to provide the first experimental confirmation of the usefulness of DEM as a state and input estimator for real robots. Through a series of quadcopter flight exper...
