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Precision Docking of a Foldable Quadrotor on a Wheel-Legged Robot via CFNTSM with GFA-FEO and FiLM-SAC Deep Reinforcement Learning

Deploying unmanned aerial vehicles (UAVs) cooperatively with legged robots for disaster response and inspection requires autonomous docking on miniature walking platforms. This study addresses the problem of landing a foldable quadrotor onto the back of a trotting wheel-legged robot (<inline-formula...

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Gardado en:
Principais autores: Qibin Gu, Zhenxing Sun
Formato: Artigo
Idioma:Inglês
Publicado: MDPI AG 2026-05-01
Series:Drones
Assuntos:
foldable quadrotor
legged robot
precision docking
sliding mode control
residual reinforcement learning
surface landing
Acceso en liña:https://www.mdpi.com/2504-446X/10/5/378
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