Learning to Open Doors with an Aerial Manipulator
Eugenio Cuniato,Ismail Geles,Weixuan Zhang,Olov Andersson,Marco Tognon,Roland Siegwart,Eugenio Cuniato,Ismail Geles,Weixuan Zhang,Olov Andersson,Marco Tognon,Roland Siegwart
The field of aerial manipulation has seen rapid advances, transitioning from push-and-slide tasks to interaction with articulated objects. The motion trajectory of these complex actions is usually hand-crafted or a result of online optimization methods like Model Predictive Control (MPC) or Model Predictive Path Integral (MPPI) control. However, these methods rely on heuristics or model simplifica...
