Neural-Swarm2: Planning and Control of Heterogeneous Multirotor Swarms using Learned Interactions
We present Neural-Swarm2, a learning-based method for motion planning and provably stable control that allows heterogeneous multirotors in a swarm to safely fly in close proximity. Experimental results demonstrate that our method is able to generalize to larger swarms beyond training cases and significantly outperforms a baseline nonlinear tracking controller with up to three times reduction in worst-case tracking errors.
Caltech press release: https://www.caltech.edu/about/news/ma...
Paper link: https://arxiv.org/pdf/2012.05457.pdf