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

- Source: Guyuehome
- Published: 2026-10-29T06:38:00.000Z
- RoboHot: https://robohot.news/en/items/u2vz2netsd4w9bqvbv4y5wrvd
- Original: https://www.guyuehome.com/detail?id=2112839078501183490

## Summary

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.