Moving Horizon Estimation for Quadrotors: An L 1 Adaptive Optimizer Approach

arXiv:2609.30777 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-25 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-25

Updated: 2026-09-25

Journal ref: Proceedings of the AIAA SciTech 2026 Forum

DOI: 10.2514/6.2026-1959

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Objective Function — 10× in this paper · explained in 2 episodes
• Moving Horizon Estimation — 8× in this paper
• Accuracy — 7× in this paper · explained in 1 episode
• Quadratic Program — 7× in this paper
• Kalman Filter — 6× in this paper
• Adaptation — 2× in this paper · explained in 1 episode
• Extended Kalman Filter — 2× in this paper
• Prediction-Correction Method — 2× in this paper
• Robustness — 2× in this paper · explained in 5 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Covariance Propagation — 1× in this paper · explained in 2 episodes
• Full Information Estimation — 1× in this paper
• System Identification — 1× in this paper · explained in 3 episodes

Sources

• Clarabel: An interior-point solver for conic programs with quadratic objectives

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