arxivcs.RO2026-07-02
Learning Agile Intruder Interception using Differentiable Quadrotor Dynamics
Michael Anoruo, Xiaoyu Tian, Abhishek Rathod, Timothy Naudet, Thomas Canchola, Eric Sturzinger, et al.
This paper presents a methodology for learning a control policy to intercept an intruder using the 3D direction unit vector to the intruder and the interceptor state. Prior deep reinforcement learning approaches assume either relative position or distance to the intruder is avail…