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Neural-Swarm: Decentralized Close-Proximity Multirotor Control Using Learned Interactions

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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA40945.2020.9196800DOIArticle
https://arxiv.org/abs/2003.02992arXivDiscussion Paper
https://youtu.be/v4j-9pH11Q8Related ItemVideo
ORCID:
AuthorORCID
Yue, Yisong0000-0001-9127-1989
Chung, Soon-Jo0000-0002-6657-3907
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)
Funders:
Funding AgencyGrant Number
Center for Autonomous Systems and Technologies (CAST)UNSPECIFIED
Raytheon CompanyUNSPECIFIED
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:22 Sep 2020 17:44

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