Open Debjoy10 opened 4 years ago
That can be done. Another element of drift can be due to drones inability to exactly follow fast speed/trajectory changes. Probably, limit velocity to a threshold? (Can use CEM over simulation roll-outs and minimize drift to find the ideal velocity threshold? Bit of a stretch though)
Yeah, it'll be better to just slow everything down
I think drift is in all directions. A possible solution would be to replan every step or every time drift is more than a threshold