Residual dynamics learning for trajectory tracking for multi-rotor aerial vehicles
Abstract This paper presents a technique to model the residual dynamics between a high-level planner and a low-level controller by considering reference trajectory tracking in a cluttered environment as an example scenario. We focus on minimising residual dynamics that arise due to only the kinemati...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2024-01-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-024-51822-0 |