AWARE improves LiDAR-inertial odometry observability on UAVs by using a differentiable MPC framework inside an RL loop to adaptively control whole-body yaw while maintaining safety in human-in-the-loop operation.
IEEE Robotics and Automation Letters 6, 7596–7603
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AWARE: Adaptive Whole-body Active Rotating Control for Enhanced LiDAR-Inertial Odometry under Human-in-the-Loop Interaction
AWARE improves LiDAR-inertial odometry observability on UAVs by using a differentiable MPC framework inside an RL loop to adaptively control whole-body yaw while maintaining safety in human-in-the-loop operation.