A data-driven control method for ground locomotion on sloped terrain of a hybrid aerial-ground robot

• المؤلفون الرئيسيون: Xu, Xinhang, Yang, Yizhuo, Cao, Muqing, Nguyen, Thien-Minh, Cao, Kun, Xie, Lihua
• مؤلفون آخرون: School of Electrical and Electronic Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2025
• الموضوعات: Engineering; Data-driven control; Hybrid aerial-ground robot
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/182052

In this work, we present a data-driven solution for the attitude control of DoubleBee on slopes. DoubleBee is a novel hybrid aerial-ground robot with two rotors and two active wheels. Inspired by the physics modeling of the system, we add a channel-separated attention head to a deep ReLU neural netw...