Kun-Peng Qi

Robust Quadrotor Trajectory Tracking Under Multimodal Wind Disturbances via Residual-Aware Deep Reinforcement Learning

The proposed method augments a standard tracking policy with a compact online acceleration-residual feature, which provides disturbance-related information without requiring an explicit wind sensor, a full disturbance observer, or a long-history recurrent estimator to reduce excessive dependence on wind-specific tempor...