Linear Model Predictive Control for the encirclement of a target using a quadrotor aircraft
Why this work is in the frame
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Bibliographic record
Abstract
Encirclement is a task accomplished by an Unmanned Aerial Vehicle (UAV) in order to maintain awareness and containment of a given target. The aim of the UAV encircling this target is to maintain close proximity at all times. In this paper, the problem of maintaining a circular path around a target is considered and a Linear Model Predictive Control (LMPC) strategy is implemented on a Qball-X4 quadrotor aircraft in order to follow the circular path. A linear model for the two-dimensional movement of the UAV and its respective MP controller has been designed in MATLAB Simulink, simulated in a X-Plane/MATLAB interface and implemented on the actual vehicle in real-time. The results of the LMPC in simulation are compared to those found while implementing the algorithm on a physical platform. The contributions of this paper lay in the implementation of an autonomous Linear MP controller for the encirclement of a stationary target by a Qball-X4 quadrotor.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it