Input Shaped Trajectory Generation and Controller Design for a Quadrotor-Slung Load System
Why this work is in the frame
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Bibliographic record
Abstract
Quadrotor-slung load systems offer a versatile method for transporting payloads. With these systems, it is particularly important to mitigate and manage unwanted payload swinging through the careful design of flight trajectories and controllers. Tracking input shaped trajectories for instance is an effective way to minimize post-flight swinging for rest-to-rest maneuvers by allowing some swinging motions during flight. In this paper, we first present a computationally simple method to generate input shaped quadrotor flight trajectories for non-rest-to-rest maneuvers. We then propose a controller to track these shaped trajectories and permit the associated payload swinging while also rejecting unwanted swinging disturbances. The path planner and controller are implemented in simulation and the performance of the controller is compared against two simpler controllers for an input shaped u-turn maneuver both with and without an initial swinging disturbance. The results of these simulations demonstrate the effectiveness of our path planner, while also showing that the proposed controller outperforms both baseline controllers considered.
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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