Neural-Swarm: Decentralized Close-Proximity Multirotor Control Using Learned Interactions
Guanya Shi,Wolfgang Hönig,Yisong Yue,Soon-Jo Chung,Guanya Shi,Wolfgang Hönig,Yisong Yue,Soon-Jo Chung
In this paper, we present Neural-Swarm, a nonlinear decentralized stable controller for close-proximity flight of multirotor swarms. Close-proximity control is challenging due to the complex aerodynamic interaction effects between multirotors, such as downwash from higher vehicles to lower ones. Conventional methods often fail to properly capture these interaction effects, resulting in controllers...
