Quad-LCD: Layered Control Decomposition Enables Actuator-Feasible Quadrotor Trajectory Planning
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866918021590679552 |
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| author | Srikanthan, Anusha Zhang, Hanli Folk, Spencer Kumar, Vijay Matni, Nikolai |
| author_facet | Srikanthan, Anusha Zhang, Hanli Folk, Spencer Kumar, Vijay Matni, Nikolai |
| contents | In this work, we specialize contributions from prior work on data-driven trajectory generation for a quadrotor system with motor saturation constraints. When motors saturate in quadrotor systems, there is an ``uncontrolled drift" of the vehicle that results in a crash. To tackle saturation, we apply a control decomposition and learn a tracking penalty from simulation data consisting of low, medium and high-cost reference trajectories. Our approach reduces crash rates by around $49\%$ compared to baselines on aggressive maneuvers in simulation. On the Crazyflie hardware platform, we demonstrate feasibility through experiments that lead to successful flights. Motivated by the growing interest in data-driven methods to quadrotor planning, we provide open-source lightweight code with an easy-to-use abstraction of hardware platforms. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_10228 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Quad-LCD: Layered Control Decomposition Enables Actuator-Feasible Quadrotor Trajectory Planning Srikanthan, Anusha Zhang, Hanli Folk, Spencer Kumar, Vijay Matni, Nikolai Robotics Systems and Control In this work, we specialize contributions from prior work on data-driven trajectory generation for a quadrotor system with motor saturation constraints. When motors saturate in quadrotor systems, there is an ``uncontrolled drift" of the vehicle that results in a crash. To tackle saturation, we apply a control decomposition and learn a tracking penalty from simulation data consisting of low, medium and high-cost reference trajectories. Our approach reduces crash rates by around $49\%$ compared to baselines on aggressive maneuvers in simulation. On the Crazyflie hardware platform, we demonstrate feasibility through experiments that lead to successful flights. Motivated by the growing interest in data-driven methods to quadrotor planning, we provide open-source lightweight code with an easy-to-use abstraction of hardware platforms. |
| title | Quad-LCD: Layered Control Decomposition Enables Actuator-Feasible Quadrotor Trajectory Planning |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2505.10228 |