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simmediumpolicy-learningmetric · varies
GustPilot: A Hierarchical DRL-INDI Framework for Wind-Resilient Quadrotor Navigation
Description
Wind disturbances remain a key barrier to reliable autonomous navigation for lightweight quadrotors, where the rapidly varying airflow can destabilize both planning and tracking. This paper introduces GustPilot, a hierarchical wind-resilient navigation stack in which a deep reinforcement learning (DRL) policy generates inertial-frame velocity reference for gate traversal. At the same time, a geometric Incremental Nonlinear Dynamic Inversion (INDI) controller provides low-level tracking with fast