Learning Model Predictive Control for Quadrotors
Guanrui Li,Alex Tunchez,Giuseppe Loianno,Guanrui Li,Alex Tunchez,Giuseppe Loianno
Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem for quadrotors. We design a learning receding-horizon nonlinear control strategy directly formulated on the system nonlinear manifold configuration space SO(3)...
