Autonomous Robots

, Volume 33, Issue 1, pp 89–102

Adaptive fast open-loop maneuvers for quadrocopters

Article

DOI: 10.1007/s10514-012-9289-9

Cite this article as:
Lupashin, S. & D’Andrea, R. Auton Robot (2012) 33: 89. doi:10.1007/s10514-012-9289-9

Abstract

We present a conceptually and computationally lightweight method for the design and iterative learning of fast maneuvers for quadrocopters. We use first-principles, reduced-order models and we do not require nor make an attempt to follow a specific state trajectory—only the initial and the final states of the vehicle are taken into account. We evaluate the adaptation scheme through experiments on quadrocopters in the ETH Flying Machine Arena that perform multi-flips and other high-performance maneuvers.

Keywords

Aerial robotics Aerobatics Learning Policy gradient 

Copyright information

© Springer Science+Business Media, LLC 2012

Authors and Affiliations

  1. 1.Institute for Dynamic Systems and ControlETH ZurichZurichSwitzerland