{"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/quad-lcd-layered-control-decomposition","title":"Quad-LCD: Layered Control Decomposition Enables Actuator-Feasible Quadrotor Trajectory Planning","arxiv_id":"2505.10228","date":"2025-05-15","proceeding":null,"authors":["Anusha Srikanthan","Hanli Zhang","Spencer Folk","Vijay Kumar","Nikolai Matni"],"abstract":"In this work, we specialize contributions from prior work on data-driven trajectory generation for a quadrotor system with motor saturation constraints. When motors saturate in quadrotor systems, there is an ``uncontrolled drift\" of the vehicle that results in a crash. To tackle saturation, we apply a control decomposition and learn a tracking penalty from simulation data consisting of low, medium and high-cost reference trajectories. Our approach reduces crash rates by around $49\\%$ compared to baselines on aggressive maneuvers in simulation. On the Crazyflie hardware platform, we demonstrate feasibility through experiments that lead to successful flights. Motivated by the growing interest in data-driven methods to quadrotor planning, we provide open-source lightweight code with an easy-to-use abstraction of hardware platforms.","url_abs":"https://arxiv.org/abs/2505.10228v1","url_pdf":"https://arxiv.org/pdf/2505.10228v1.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":"quad-lcd-layered-control-decomposition","repo_url":"https://github.com/Nusha97/Quad-LCD","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"jax","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}