Data-Driven and Robust Path-following Control of a Quadrotor Slung Load Transport System
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Bibliographic record
Abstract
View Video Presentation: https://doi.org/10.2514/6.2023-1345.vid In this paper, a robust path following control law for a quadrotor Slung Load Transport System is developed. A Gaussian Process-augmented Extended Kalman Filter is proposed to estimate payload states. In this approach, Gaussian Processes are used to compensate for unmodelled dynamics in the process model, and they are trained on previously collected data of a Slung Load Transport System in flight. Both simulations and experiments verify the estimation and control system framework and demonstrate successful stabilization and trajectory tracking of the Slung Load Transport System, overcoming model inaccuracy and disturbances.
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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 | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.002 | 0.001 |
| 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