The IMU model and the control method

uzh-rpg / learned_inertial_model_odometry

This repo contains the code of the paper "Learned Inertial Odometry for Autonomous Drone Racing", RA-L 2023.

GNU General Public License v3.0

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Closed dongdongbh closed 11 months ago

dongdongbh commented 1 year ago

Excellent work! I have a few questions about the project.

Which IMU model is used?
Is the control method based on the reinforcement learning method described in paper [33](Autonomous drone racing with deep reinforcement learning)?
Paper [33] states that "executing the trajectory results in large tracking errors." How do you deal with this issue?

gcioffi commented 11 months ago

Hi,

the imu model is the same as the one used here: https://arxiv.org/pdf/2007.01867.pdf
The control method is an extension of [33]. We will have soon a publication related to it.