Wind Disturbance Estimation and Rejection for Quadrotor Position Control
Why this work is in the frame
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Bibliographic record
Abstract
ight control can be quite signicant, and can lead to dangerous situations when operating in close proximity to obstacles or other aerial vehicles. This work seeks to improve quadrotor positioning performance by formally modeling the wind eects on quadrotor dynamics in order to estimate wind velocities in ight and control the vehicle accordingly. Models for wind disturbances, quadrotor dynamics in wind and onboard measurements are presented and an estimation algorithm is developed for the current wind velocity experienced by the vehicle. This wind estimate is used to improve positioning accuracy by both eliminating the eect of wind on the feedback position control law and adding a wind compensator to mitigate the eect of the expected wind disturbance. Simulation results are presented for multiple scenarios, and work is ongoing for implementation on board a quadrotor testbed.
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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 | 0.000 | 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