Weighted Maximum Likelihood for Controller Tuning
Angel Romero,Shreedhar Govil,Gonca Yilmaz,Yunlong Song,Davide Scaramuzza,Angel Romero,Shreedhar Govil,Gonca Yilmaz,Yunlong Song,Davide Scaramuzza
Recently, Model Predictive Contouring Control (MPCC) has arisen as the state-of-the-art approach for model-based agile flight. MPCC benefits from great flexibility in trading-off between progress maximization and path following at runtime without relying on globally optimized trajectories. However, finding the optimal set of tuning parameters for MPCC is challenging because (i) the full quadrotor ...
