Kun-Peng Qi

Robust Quadrotor Trajectory Tracking Under Multimodal Wind Disturbances via Residual-Aware Deep Reinforcement Learning

Robust quadrotor trajectory tracking under wind disturbances is challenging because real outdoor wind is multimodal with time-varying and heavy-tailed characteristics, whereas existing solutions suffer from insufficient disturbance observability and poor out-of-distribution robustness. To this end, this paper presents...