Neural Moving Horizon Estimation for Robust Flight Control

arXiv:2206.10397 · cs.RO, cs.LG, cs.SY, eess.SY · Submitted 2022-06-21 · Read on arXiv

cs.RO, cs.LG, cs.SY, eess.SY

Submitted: 2022-06-21

Updated: 2026-09-12

Comments: This paper (not the final version) has been accepted for publication in the IEEE Transactions on Robotics

Journal ref: IEEE Transactions on Robotics, vol.40, pp.639 - 659, 2024

DOI: 10.1109/TRO.2023.3331064

Code: https://github.com/RCL-NUS/NeuroMHE

Project page: https://rpg.ifi.uzh.ch/neuro_

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Accuracy — 10× in this paper · explained in 1 episode
• Adaptation — 9× in this paper · explained in 1 episode
• Adaptive Weighting — 8× in this paper · explained in 1 episode
• Loss Function — 7× in this paper · explained in 2 episodes
• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Conference on Decision and Control — 3× in this paper
• Core — 3× in this paper · explained in 2 episodes
• Adam — 2× in this paper · explained in 2 episodes
• Generalizability — 2× in this paper · explained in 6 episodes
• Online Adaptation — 2× in this paper · explained in 3 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Ablation Studies — 1× in this paper · explained in 1 episode
• Activation Function — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Inertial Measurement Unit — 1× in this paper
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes

Sources

• Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects
• Learning-based Moving Horizon Estimation through Differentiable Convex Optimization Layers
• Adam: A Method for Stochastic Optimization
• $\mathcal{L}_1$Quad: $\mathcal{L}_1$ Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees
• Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3)

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