Shi, Guanya and Hönig, Wolfgang and Yue, Yisong and Chung, Soon-Jo (2020) Neural-Swarm: Decentralized Close-Proximity Multirotor Control Using Learned Interactions. In: 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 3241-3247. ISBN 978-1-7281-7395-5. https://resolver.caltech.edu/CaltechAUTHORS:20191029-155055963
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Abstract
In this paper, we present Neural-Swarm, a nonlinear decentralized stable controller for close-proximity flight of multirotor swarms. Close-proximity control is challenging due to the complex aerodynamic interaction effects between multirotors, such as downwash from higher vehicles to lower ones. Conventional methods often fail to properly capture these interaction effects, resulting in controllers that must maintain large safety distances between vehicles, and thus are not capable of close-proximity flight. Our approach combines a nominal dynamics model with a regularized permutation-invariant Deep Neural Network (DNN) that accurately learns the high-order multi-vehicle interactions. We design a stable nonlinear tracking controller using the learned model. Experimental results demonstrate that the proposed controller significantly outperforms a baseline nonlinear tracking controller with up to four times smaller worst-case height tracking errors. We also empirically demonstrate the ability of our learned model to generalize to larger swarm sizes.
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Additional Information: | © 2020 IEEE. We thank Michael O’Connell and Xichen Shi for helpful discussions and Anya Vinogradsky for help with the firmware implementation. The work is funded in part by Caltech’s Center for Autonomous Systems and Technologies (CAST) and the Raytheon Company. | ||||||||||||
Group: | GALCIT, Center for Autonomous Systems and Technologies (CAST) | ||||||||||||
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DOI: | 10.1109/ICRA40945.2020.9196800 | ||||||||||||
Record Number: | CaltechAUTHORS:20191029-155055963 | ||||||||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20191029-155055963 | ||||||||||||
Official Citation: | G. Shi, W. Hönig, Y. Yue and S. -J. Chung, "Neural-Swarm: Decentralized Close-Proximity Multirotor Control Using Learned Interactions," 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020, pp. 3241-3247, doi: 10.1109/ICRA40945.2020.9196800 | ||||||||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||||||||
ID Code: | 99548 | ||||||||||||
Collection: | CaltechAUTHORS | ||||||||||||
Deposited By: | Tony Diaz | ||||||||||||
Deposited On: | 29 Oct 2019 22:59 | ||||||||||||
Last Modified: | 16 Nov 2021 17:47 |
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