{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/closed-loop-model-identification-and-mpc","title":"Closed-Loop Model Identification and MPC-based Navigation of Quadcopters: A Case Study of Parrot Bebop 2","arxiv_id":"2404.07267","date":"2024-04-10","proceeding":null,"authors":["Mohsen Amiri","Mehdi Hosseinzadeh"],"abstract":"The growing potential of quadcopters in various domains, such as aerial photography, search and rescue, and infrastructure inspection, underscores the need for real-time control under strict safety and operational constraints. This challenge is compounded by the inherent nonlinear dynamics of quadcopters and the on-board computational limitations they face. This paper aims at addressing these challenges. First, this paper presents a comprehensive procedure for deriving a linear yet efficient model to describe the dynamics of quadrotors, thereby reducing complexity without compromising efficiency. Then, this paper develops a steady-state-aware Model Predictive Control (MPC) to effectively navigate quadcopters, while guaranteeing constraint satisfaction at all times. The main advantage of the steady-state-aware MPC is its low computational complexity, which makes it an appropriate choice for systems with limited computing capacity, like quadcopters. This paper considers Parrot Bebop 2 as the running example, and experimentally validates and evaluates the proposed algorithms.","url_abs":"https://arxiv.org/abs/2404.07267v1","url_pdf":"https://arxiv.org/pdf/2404.07267v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"closed-loop-model-identification-and-mpc","repo_url":"https://github.com/mhsnar/Closed-loop-Identification","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[{"slug":"parrot-bebop-2-dataset","name":"Parrot Bebop 2 Dataset","full_name":""}],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}