Battery-Aware Reinforcement Learning for Aggressive Quadrotor Flight

arXiv:2609.37316 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Comments: 9 pages, 9 figures, 4 tables. Submitted to ICRA 2027. Supplementary video: https://youtu.be/-JTRXvstFAo

Code: https://github.com/bitcraze/crazyflie-firmware

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

Terminology

• Actor — 21× in this paper · explained in 3 episodes
• Reinforcement Learning — 8× in this paper · explained in 4 episodes
• Adaptation — 4× in this paper · explained in 1 episode
• Accuracy — 3× in this paper · explained in 1 episode
• Aperture — 2× in this paper · explained in 1 episode
• Ablation — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Partially observable Markov decision process (POMDP) — 1× in this paper · explained in 2 episodes
• Quantization — 1× in this paper · explained in 12 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• Learned Controllers for Agile Quadrotors in Pursuit-Evasion Games
• Agile Flight Emerges from Multi-Agent Competitive Racing
• BC-NMPC: Battery-Constrained NMPC with Propulsion Prediction and Replanning for High-Speed Flight
• Accurate Control under Voltage Drop for Rotor Drones
• SkyDreamer: Interpretable End-to-End Vision-Based Drone Racing with Model-Based Reinforcement Learning
• Proximal Policy Optimization Algorithms
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning

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