M. Ani Hsieh

Flatness-Preserving Residual Learning for Real-Time Tight Quadrotor Formation Flight

Pei-An Hsieh, Fengjun Yang, Nikolai Matni, M. Ani Hsieh

Quadrotors flying in tight formations are severely affected by turbulent aerodynamic interactions, such as downwash, that can cause catastrophic collisions if left unmodeled. To compensate for these effects, we propose a physics-informed residual dynamics learning framework that…Read more