arxivcs.LGeess.SY2026-07-15
Conditional Invertible Neural Networks for Data-Driven UAV Control: A 2-D Proof of Concept
Christian Wittke, Stephan Myschik, Oliver Niggemann
We investigate conditional invertible neural networks (cINNs) as probabilistic inverse-dynamics models for multirotor control. For a planar X8 coaxial multicopter, we learn $p(u \mid s_t, c_t)$ from an incremental nonlinear dynamic inversion (INDI) teacher using rational-quadrati…