A reinforcement learning policy trained in a randomized simulator with motor dynamics and observation delays transfers to hardware and lands a morphing quadrotor through mid-air transformation, beating an MPC baseline in impact velocity and simulated disturbance recovery.
Minimum time trajectory generation for bounding flight: Combining posture control and thrust vectoring,
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Quadrotor Morpho-Transition: Learning vs Model-Based Control Strategies
A reinforcement learning policy trained in a randomized simulator with motor dynamics and observation delays transfers to hardware and lands a morphing quadrotor through mid-air transformation, beating an MPC baseline in impact velocity and simulated disturbance recovery.