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Lidar-E2E: End-to-End Obstacle Avoidance Control with Onboard LiDAR for Quadrotors

Lidar-E2E proposes an end-to-end obstacle avoidance control method for quadrotors using onboard LiDAR. It pools point clouds from a 1944-line LiDAR into a 36×6 range image, concatenates this with a 20-dimensional body state, and directly outputs attitude increments and throttle, which are executed by a low-level PX4 cascaded attitude controller. The article also derives a rotor identification model, the sensing pipeline, and reward shaping, and uses Isaac Sim.

Part of the event: Lidar-E2E Proposes Onboard LiDAR End-to-End Obstacle Avoidance Control Method

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