Bi-level RL decouples center-of-mass planning from thrust control in underactuated blimps, outperforming fixed-CoM and PID controllers in tracking accuracy and sim-to-real transfer on a 27-goal set.
Sblimp: Design, model, and translational motion control for a swing-blimp,
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Bi-Level Reinforcement Learning Control for an Underactuated Blimp via Center-of-Mass Reconfiguration
Bi-level RL decouples center-of-mass planning from thrust control in underactuated blimps, outperforming fixed-CoM and PID controllers in tracking accuracy and sim-to-real transfer on a 27-goal set.