Flatness-Preserving Residual Learning for Real-Time Tight Quadrotor Formation Flight

arXiv:2607.12275 · cs.RO, cs.SY, eess.SY · Submitted 2026-07-14 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-07-14

Updated: 2026-09-25

Terminology

• Fidelity — 5× in this paper · explained in 2 episodes
• Generalization — 4× in this paper · explained in 13 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Accuracy — 2× in this paper · explained in 1 episode
• Adam — 2× in this paper · explained in 2 episodes
• Conference on Decision and Control — 2× in this paper
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Ablation Studies — 1× in this paper · explained in 1 episode
• Activation Function — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• In Robot Operating System — 1× in this paper
• Loss Function — 1× in this paper · explained in 2 episodes
• Nonlinear Model Predictive Control (NMPC) — 1× in this paper · explained in 3 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes
• PID Controller — 1× in this paper · explained in 2 episodes
• System Identification — 1× in this paper · explained in 3 episodes

Sources

• Flying Quadrotors in Tight Formations using Learning-based Model Predictive Control
• Online Adaptation for Flying Quadrotors in Tight Formations
• Scalable Distributed Nonlinear Control Under Flatness-Preserving Coupling
• Adam: A Method for Stochastic Optimization

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