Learning a Single Near-hover Position Controller for Vastly Different Quadcopters
Dingqi Zhang,Antonio Loquercio,Xiangyu Wu,Ashish Kumar,Jitendra Malik,Mark W. Mueller,Dingqi Zhang,Antonio Loquercio,Xiangyu Wu,Ashish Kumar,Jitendra Malik,Mark W. Mueller
This paper proposes an adaptive near-hover position controller for quadcopters, which can be deployed to quadcopters of very different mass, size and motor constants, and also shows rapid adaptation to unknown disturbances during runtime. The core algorithmic idea is to learn a single policy that can adapt online at test time not only to the disturbances applied to the drone, but also to the robot...
