A Universal Controller for Unmanned Aerial Vehicles
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
Unmanned aerial vehicles (UAVs) have become popular in a wide range of applications, including many military and civilian uses. State of the art control strategies for these vehicles are typically limited to a portion of the vehicle's flight envelope, and are tailored to a specific type of platform. This article presents a single physics-based controller capable of aggressive maneuvering for the majority of UAVs. The controller is applicable to UAVs with the ability to apply a force along a body-fixed direction, and a moment about an arbitrary axis, which includes UAVs such as multi-copters, conventional fixed-wing, agile fixed-wing, flying-wing with two thrusters, most tailsitters, and some tilt-rotor/wing platforms. We demonstrate autonomous flight for a quadrotor and agile fixed-wing aircraft in a simulation environment. To specifically demonstrate the extreme maneuvering capability of the control logic, we perform a rolling flip with the quadrotor and an aggressive turnaround with the fixed-wing aircraft, all using a single controller with a single set of gains.
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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