An Efficient Egocentric Regulator for Continuous Targeting Problems of the Underactuated Quadrotor

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Lin, Ziying, Dong, Wei, Liu, Sensen, Sheng, Xinjun, Zhu, Xiangyang
Format:	Preprint
Published:	2021
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Hierarchical Reinforcement Learning for Articulated Tool Manipulation with Multifingered Hand
by: Xu, Wei, et al.
Published: (2025)

Optimized Design of A Haptic Unit for Vibrotactile Amplitude Modulation
by: Huang, Jingchen, et al.
Published: (2024)

Path-Parameterised RRTs for Underactuated Systems
by: Abood, Damian, et al.
Published: (2024)

Real-Time Model Predictive Control for the Swing-Up Problem of an Underactuated Double Pendulum
by: Burchard, Blanka, et al.
Published: (2025)

Cooperative Circumnavigation for Multi-Quadrotor Systems via Onboard Sensing
by: Liu, Xueming, et al.
Published: (2025)

Learning Agile Quadrotor Flight in the Real World
by: Ren, Yunfan, et al.
Published: (2026)

Underactuated multimodal jumping robot for extraterrestrial exploration
by: Wagner, Neil R., et al.
Published: (2026)

Control Lyapunov Functions for Underactuated Soft Robots
by: Pham, Huy, et al.
Published: (2026)

Perception-Aware Time-Optimal Planning for Quadrotor Waypoint Flight
by: Qin, Chao, et al.
Published: (2026)

Underactuated dexterous robotic grasping with reconfigurable passive joints
by: Kopicki, Marek, et al.
Published: (2025)

Locomotion Dynamics of an Underactuated Three-Link Robotic Vehicle
by: Raz, Leonid, et al.
Published: (2024)

Development of a Multi-Fingered Soft Gripper Digital Twin for Machine Learning-based Underactuated Control
by: Yang, Wu-Te, et al.
Published: (2025)

EquiMus: Energy-Equivalent Dynamic Modeling and Simulation of Musculoskeletal Robots Driven by Linear Elastic Actuators
by: Zhu, Yinglei, et al.
Published: (2025)

LiDAR-based Quadrotor Autonomous Inspection System in Cluttered Environments
by: Liu, Wenyi, et al.
Published: (2025)

Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion
by: Yang, Shunpeng, et al.
Published: (2024)

RESC: A Reinforcement Learning Based Search-to-Control Framework for Quadrotor Local Planning in Dense Environments
by: Liu, Zhaohong, et al.
Published: (2024)

Adaptive Tracking and Perching for Quadrotor in Dynamic Scenarios
by: Gao, Yuman, et al.
Published: (2023)

Task-Adaptive Admittance Control for Human-Quadrotor Cooperative Load Transportation with Dynamic Cable-Length Regulation
by: Li, Shuai, et al.
Published: (2026)

LiDAR-based Quadrotor for Slope Inspection in Dense Vegetation
by: Liu, Wenyi, et al.
Published: (2024)

Bearing‐Based Moving Target Fencing Control for Multiple Underactuated Autonomous Surface Vehicles With Fixed‐Time Differentiators
by: Yuxin Zheng, et al.
Published: (2025)

QP-Based Control of an Underactuated Aerial Manipulator under Constraints
by: Laribi, Nesserine, et al.
Published: (2026)

Model-based Optimal Control for Rigid-Soft Underactuated Systems
by: Caradonna, Daniele, et al.
Published: (2026)

Deep Reinforcement Learning Policies for Underactuated Satellite Attitude Control
by: Hariry, Matteo El, et al.
Published: (2025)

On-Line Learning for Planning and Control of Underactuated Robots with Uncertain Dynamics
by: Turrisi, Giulio, et al.
Published: (2025)

Kinesthetic-based In-Hand Object Recognition with an Underactuated Robotic Hand
by: Arolovitch, Julius, et al.
Published: (2024)

MonoRollBot: 3-DOF Spherical Robot with Underactuated Single Compliant Actuator Design
by: Liu, Zhiwei, et al.
Published: (2024)

Trajectory Generation for Underactuated Soft Robot Manipulators using Discrete Elastic Rod Dynamics
by: Liu, Beibei, et al.
Published: (2026)

Hard‐Magnetic Soft Millirobots in Underactuated Systems
by: Qiong Wang, et al.
Published: (2025)

FLYINGTRUST: A Benchmark for Quadrotor Navigation Across Scenarios and Vehicles
by: Li, Gang, et al.
Published: (2025)

Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadrotor with Unicycle-Driven and Rotor-Assisted Turning
by: Zheng, Zhi, et al.
Published: (2023)

WESPR: Wind-adaptive Energy-Efficient Safe Perception & Planning for Robust Flight with Quadrotors
by: Habib, Khuzema, et al.
Published: (2026)

ASTER: Attitude-aware Suspended-payload Quadrotor Traversal via Efficient Reinforcement Learning
by: Cao, Dongcheng, et al.
Published: (2026)

DroneDiffusion: Robust Quadrotor Dynamics Learning with Diffusion Models
by: Das, Avirup, et al.
Published: (2024)

A Hybrid Controller Design for Human-Assistive Piloting of an Underactuated Blimp
by: Meng, Wugang, et al.
Published: (2024)

GPU-Accelerated Motion Planning of an Underactuated Forestry Crane in Cluttered Environments
by: Vu, Minh Nhat, et al.
Published: (2025)

Underactuated Control of Multiple Soft Pneumatic Actuators via Stable Inversion
by: Yang, Wu-Te, et al.
Published: (2024)

CarbonFish -- A Bistable Underactuated Compliant Fish Robot capable of High Frequency Undulation
by: Xiong, Zechen, et al.
Published: (2023)

Curriculum Reinforcement Learning for Quadrotor Racing with Random Obstacles
by: Sun, Fangyu, et al.
Published: (2026)

Learning Model Predictive Control for Quadrotors
by: Li, Guanrui, et al.
Published: (2022)

if (filemtime($filename) + $maxlifetime < time()) { unlink($filename); $count++; } } return $count; } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ protected function saveSession($sessId, $data): bool { $sessFile = $this->path . '/sess_' . $sessId; if ($handle = fopen($sessFile, 'w')) { $return = false; // Lock the file for exclusive access to avoid issues with multiple // processes writing session simultaneously: if (flock($handle, LOCK_EX)) { $return = fwrite($handle, $data); // Make sure that there's no trailing data by truncating the file to // the correct length: ftruncate($handle, strlen($data)); fflush($handle); flock($handle, LOCK_UN); } fclose($handle); if ($return !== false) { return true; } } // If we got this far, something went wrong with the file output... // It is tempting to throw an exception here, but this code is called // outside of the context of exception handling, so all we can do is // echo a message.

// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

Environment & details:

GET Data empty

POST Data empty

Files empty

Key	Value
ui	"standard"
language	"en"
VUFIND_SESSION	"f10ff098f6a0aaba06cf9e61be8495aa"

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1791179882.1795 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "f10ff098f6a0aaba06cf9e61be8495aa" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#938}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1433}
SessionHelper	Laminas\Stdlib\ArrayObject {#1759}

Server/Request Data

Key	Value
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"info.umar.mx"
REDIRECT_STATUS	"200"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"info.umar.mx"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_COOKIE	"ui=standard; language=en; VUFIND_SESSION=f10ff098f6a0aaba06cf9e61be8495aa"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"info.umar.mx"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.66 (Ubuntu) Server at info.umar.mx Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.66 (Ubuntu)"
SERVER_NAME	"info.umar.mx"
SERVER_ADDR	"200.23.222.19"
SERVER_PORT	"443"
REMOTE_ADDR	"216.73.217.58"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"admin@localhost"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"20562"
REDIRECT_URL	""" /Record/\n arxiv_https___arxiv_org_abs_2108_02930/Similar """
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/%0Aarxiv_https___arxiv_org_abs_2108_02930/Similar"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1791179882.1753
REQUEST_TIME	1791179882

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler

Environment & details:

GET Data empty

POST Data empty

Files empty

Key	Value
ui	"standard"
language	"en"
VUFIND_SESSION	"f10ff098f6a0aaba06cf9e61be8495aa"

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1791179882.1795 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "f10ff098f6a0aaba06cf9e61be8495aa" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#938}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1433}
SessionHelper	Laminas\Stdlib\ArrayObject {#1759}

Server/Request Data

Key	Value
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"info.umar.mx"
REDIRECT_STATUS	"200"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"info.umar.mx"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_COOKIE	"ui=standard; language=en; VUFIND_SESSION=f10ff098f6a0aaba06cf9e61be8495aa"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"info.umar.mx"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.66 (Ubuntu) Server at info.umar.mx Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.66 (Ubuntu)"
SERVER_NAME	"info.umar.mx"
SERVER_ADDR	"200.23.222.19"
SERVER_PORT	"443"
REMOTE_ADDR	"216.73.217.58"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"admin@localhost"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"20562"
REDIRECT_URL	""" /Record/\n arxiv_https___arxiv_org_abs_2108_02930/Similar """
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/%0Aarxiv_https___arxiv_org_abs_2108_02930/Similar"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1791179882.1753
REQUEST_TIME	1791179882

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler

Similar Items

Similar Items

Environment & details:

Environment & details: