A model-free online iterative learning method is proposed to achieve energy-optimal UAV paths in a virtual tube with O(n) complexity and 50-60x speedup over IPOPT, validated in simulations and real flights.
Energetics in robotic flight at small scales,
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Energy-Optimal Spatial Iterative Learning within a Virtual Tube
A model-free online iterative learning method is proposed to achieve energy-optimal UAV paths in a virtual tube with O(n) complexity and 50-60x speedup over IPOPT, validated in simulations and real flights.