Aerobatic maneuvers in insect-scale flapping-wing aerial robots via deep-learned robust tube model predictive control

Aerial insects exhibit highly agile maneuvers such as sharp braking, saccades, and body flips under disturbance. In contrast, insect-scale aerial robots are limited to tracking non-aggressive trajectories with small body acceleration. This performance gap is contributed by a combination of low robot inertia, fast dynamics, uncertainty in flapping-wing aerodynamics, and high susceptibility to environmental disturbance. Executing highly dynamic maneuvers requires the generation of aggressive flight trajectories that push against the hardware limit and a high-rate feedback controller that accounts for model and environmental uncertainty. Here, through designing a deep-learned robust tube model predictive controller, we showcase insect-like flight agility and robustness in a 750-milligram flapping-wing robot. Our model predictive controller can track aggressive flight trajectories under disturbance. To achieve a high feedback rate in a compute-constrained real-time system, we design imitati..., The dataset comprises raw sensing data and commanded voltages, including position and Euler angles (using the XYZ convention), collected from a motion-capturing system (Vicon Vantage V5 and Vicon Tracker 3.9) and the voltages computed by the controller. The sensing data was retrieved from Vicon Tracker 3.9 and transmitted in real-time to a target computer (Speedgoat) via asynchronous UDP. All sensing data was saved at 10 kHz on the target computer, with no post-processing applied. The four voltages commanded by the controller were saved at 1 kHz.
, # Flight Data

This dataset contains recorded position, Euler angle XYZ, and the commanded voltages of the flights presented in the manuscript \"Aerobatic maneuvers in insect-scale flapping-wing aerial robots via deep-learned robust tube model predictive control\".

## Data format

The data is saved in Comma-Separated Value (.csv) format. The first column of each .csv file represents the time (in seconds at 10 kHz) recorded during the flight for position and orientation, which are sampled at 10 kHz. The subsequent columns are organized in groups of six: the first three columns show the x, y, and z positions (in meters), and the next three columns contain the Euler angles in the XYZ convention (in radians). The column after the last Euler angles represents the time (in seconds at 1 kHz) recorded during the flight for commanded voltages, which are sampled at 1 kHz. The subsequent columns are organized in groups of four: each column shows the voltage (in Volts) computed by the controller for...,