相关论文: A Neural Network Mode for PX4 on Embedded Flight C…

Physics-informed neural networks have gained popularity as a deep-learning based parametric partial differential equation solver. Especially for engineering applications, this approach is promising because a single neural network could…

This paper presents a vision-based modularized drone racing navigation system that uses a customized convolutional neural network (CNN) for the perception module to produce high-level navigation commands and then leverages a…

Training neural network often uses a machine learning framework such as TensorFlow and Caffe2. These frameworks employ a dataflow model where the NN training is modeled as a directed graph composed of a set of nodes. Operations in neural…

Performance of model-based feedforward controllers is typically limited by the accuracy of the inverse system dynamics model. Physics-guided neural networks (PGNN), where a known physical model cooperates in parallel with a neural network,…

Unknown nonlinear dynamics can limit the performance of model-based feedforward control. The aim of this paper is to develop a feedforward control framework for systems with unknown, typically nonlinear, dynamics. To address the unknown…

We discuss nonlinear model predictive control (NMPC) for multi-body dynamics via physics-informed machine learning methods. Physics-informed neural networks (PINNs) are a promising tool to approximate (partial) differential equations. PINNs…

Tracking performance of physical-model-based feedforward control for interventional X-ray systems is limited by hard-to-model parasitic nonlinear dynamics, such as cable forces and nonlinear friction. In this paper, these nonlinear dynamics…

Current control algorithms for aerial robots struggle with robustness in dynamic environments and adverse conditions. Model-based reinforcement learning (RL) has shown strong potential in handling these challenges while remaining…

In recent years, artificial neural networks have been increasingly studied as feedback controllers for guidance problems. While effective in complex scenarios, they lack the verification guarantees found in classical guidance policies.…

We present a novel framework demonstrating zero-shot sim-to-real transfer of visual control policies learned in a Neural Radiance Field (NeRF) environment for quadrotors to fly through racing gates. Robust transfer from simulation to real…

Rotorcraft engines are highly complex, nonlinear thermodynamic systems that operate under varying environmental and flight conditions. Simulating their dynamics is crucial for design, fault diagnostics, and deterioration control phases, and…

The Eulerian fluid simulation is an important HPC application. The neural network has been applied to accelerate it. The current methods that accelerate the fluid simulation with neural networks lack flexibility and generalization. In this…

Control of complex systems involves both system identification and controller design. Deep neural networks have proven to be successful in many identification tasks, however, from model-based control perspective, these networks are…

Flow-level simulation is widely used to model large-scale data center networks due to its scalability. Unlike packet-level simulators that model individual packets, flow-level simulators abstract traffic as continuous flows with dynamically…

For the aerial manipulator that performs aerial work tasks, the actual operating environment it faces is very complex, and it is affected by internal and external multi-source disturbances. In this paper, to effectively improve the…

We consider artificial neurons which will update their weight coefficients with an internal rule based on backpropagation, rather than using it as an external training procedure. To achieve this we include the backpropagation error estimate…

Deep Learning, driven by neural networks, has led to groundbreaking advancements in Artificial Intelligence by enabling systems to learn and adapt like the human brain. These models have achieved remarkable results, particularly in…

Nowadays, Neural Networks represent a major expectation for the realization of powerful Deep Learning algorithms, which can determine several physical systems' behaviors and operations. Computational resources required for model, training,…

UAV control system is a huge and complex system, and to design and test a UAV control system is time-cost and money-cost. This paper considered the simulation of identification of a nonlinear system dynamics using artificial neural networks…

This article presents a solution to intercept an agile drone by another agile drone carrying a catching net. We formulate the interception as a Competitive Reinforcement Learning problem, where the interceptor and the target drone are…