Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Soft Multicopter Control using Neural Dynamics Identification   Dynamic control of a soft-body robot to deliver complex behaviors with
low-dimensional actuation inputs is challenging. In this paper, we present a
computational approach to automatically generate versatile, underactuated
control policies that drives soft-bodied machines with complicated structures
and nonlinear dynamics. Our target application is focused on the autonomous
control of a soft multicopter, featured by its elastic material components,
non-conventional shapes, and asymmetric rotor layouts, to precisely deliver
compliant deformation and agile locomotion. The central piece of our approach
lies in a lightweight neural surrogate model to identify and predict the
temporal evolution of a set of geometric variables characterizing an elastic
soft body. This physics-based learning model is further integrated into a
Linear Quadratic Regulator (LQR) control loop enhanced by a novel online
fixed-point relinearization scheme to accommodate the dynamic body balance,
allowing an aggressive reduction of the computational overhead caused by the
conventional full-scale sensing-simulation-control workflow. We demonstrate the
efficacy of our approach by generating controllers for a broad spectrum of
customized soft multicopter designs and testing them in a high-fidelity physics
simulation environment. The control algorithm enables the multicopters to
perform a variety of tasks, including hovering, trajectory tracking, cruising
and active deforming.

3
The categories of this paper are: physics
27
The categories of this paper are: comp-gas
23
The categories of this paper are: solv-int
2
The categories of this paper are: math
7
The categories of this paper are: hep-th
19
The categories of this paper are: eess
18
The categories of this paper are: econ
10
The categories of this paper are: q-bio
26
The categories of this paper are: bayes-an
29
The categories of this paper are: funct-an
32
The categories of this paper are: atom-ph
4
The categories of this paper are: cond-mat
13
The categories of this paper are: quant-ph
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The categories of this paper are: gr-qc
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The categories of this paper are: hep-ph
31
The categories of this paper are: ao-sci