Flight under changing conditions
Return to a commanded position despite airflow and changes in carried mass.
Visual description
Manuscript under review. The first video illustrates the sequence in three dimensions: nominal tracking, airflow, added mass, a moving virtual target and convergence. The trajectories are illustrative. The second video preserves the full supplied experiment, including RViz, position/heading plots and its existing 3× playback.
The problem
A drone may hold position in nominal conditions and drift when exposed to airflow or an added payload. Small persistent errors become important near obstacles and during precision tasks.
Research direction
The preview shows a repeatedly updated path to a target, followed by airflow and added mass that produce position error. A moving virtual target then redirects the planned path while the vehicle converges to the original commanded position.
About this preview
Manuscript under review. The first video illustrates the sequence in three dimensions: nominal tracking, airflow, added mass, a moving virtual target and convergence. The trajectories are illustrative. The second video preserves the full supplied experiment, including RViz, position/heading plots and its existing 3× playback.