外观
论文arXiv 2610.1586717 天前
REFLEX：一种用于软四旋翼鲁棒自主碰撞恢复的学习式机载反射机制
原文链接：REFLEX: A Learned On-Board Reflex for Robust Autonomous Collision Recovery of Soft Quadrotors（arXiv 2610.15867 · 发布日期：2026-10-11）
REFLEX: A Learned On-Board Reflex for Robust Autonomous Collision Recovery of Soft Quadrotors
REFLEX在飞控上运行，用本体感知循环策略实现碰撞后恢复，并在仿真训练和硬件墙撞实验中验证。
核心要点
- 抗碰撞机架能承受撞击，但高速碰撞后估计器可能拒绝有效外部速度，影响自主恢复。
- REFLEX无需接触传感器或伴随计算机，在飞控上用本体感知循环策略稳定飞行器。
- 策略用PPO在仿真中训练，初始状态来自47次真实碰撞测得的碰后状态。
- 5.03±0.09 m/s墙撞恢复19/22次，匹配原厂自驾仪为1/14次。
验证范围与局限：验证范围为仿真训练、硬件墙面撞击实验，以及一次探索飞行中的两次更高速恢复。
英文摘要 (Abstract)
Collision-resilient airframes allow quadrotors to survive impacts, but do not ensure autonomous post-collision recovery. Innovation gating in stock onboard estimators often rejects valid external velocity measurements after high-speed impacts, compromising recovery. We present REFLEX, a collision-recovery flight mode that runs entirely on the flight controller, requiring neither contact sensors nor a companion computer. Its proprioceptive recurrent policy stabilizes the vehicle without position, velocity, heading, or altitude estimates. The translational estimate is reinitialized while REFLEX is active, and a trust gate checks estimator consistency before returning control to the stock autopilot. The policy is trained in simulation using proximal policy optimization, with episodes initialized from post-impact states measured in 47 real collisions. In hardware experiments, REFLEX recovered 19 of 22 wall impacts at 5.03 $\pm$ 0.09 m/s, compared with 1 of 14 for the matched stock autopilot. These included 15 consecutive recoveries in a single flight. A separate exploratory flight demonstrated two additional recoveries at 6.02 and 6.05 m/s within the same flight, exceeding the previously reported velocity for autonomous wall-collision recovery by 64%.
作者：Jakob Hermeler, Luca Girardi, Gabriel Maquignaz, Stefan Leutenegger, Stefano Mintchev
来源
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