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Motion Primitives for Robotic Flight Control

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arxiv cs/0609140 v2 pith:4W6WSGCJ submitted 2006-09-25 cs.RO cs.LG

Baris E. Perk , J. J. E. Slotine This is my paper · ORCID
classification cs.ROcs.LG
keywords primitivesmaneuversaggressivecontrolflightmovementaccordinglyachieve
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We introduce a simple framework for learning aggressive maneuvers in flight control of UAVs. Having inspired from biological environment, dynamic movement primitives are analyzed and extended using nonlinear contraction theory. Accordingly, primitives of an observed movement are stably combined and concatenated. We demonstrate our results experimentally on the Quanser Helicopter, in which we first imitate aggressive maneuvers and then use them as primitives to achieve new maneuvers that can fly over an obstacle.

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Cited by 2 Pith papers

Reviewed papers in the Pith corpus that reference this work. Sorted by Pith novelty score. Full citation record

  1. Combining Movement Primitives with Contraction Theory

    cs.RO 2025-01 conditional novelty 4.0 of 10

    A modular DMP framework mixes discrete and rhythmic movement primitives in parallel or sequence, preserving independent scaling and rotation of each movement.

  2. Movement Primitives in Robotics: A Comprehensive Survey

    cs.RO 2025-12 conditional novelty 1.0 of 10

    A comprehensive survey that maps movement primitive frameworks in robot learning from demonstration, comparing DMPs, ProMPs, KMPs, CNMPs, and FMPs and cataloging their applications.

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