Vision-Based Agile Perching on Inclined Platforms under Rapid and
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PerchRL: Vision-Based Agile Perching on Inclined Platforms under Rapid and Irregular Motion
arXiv:2606.03441v1 Announce Type: new Abstract: Autonomous vision-based perching of quadrotors on moving inclined platforms is critical for air-ground collaboration but remains challenging due to the limited field of view (FOV). In this paper, we propose PerchRL, a reinforcement learning (RL) framework for vision-based agile perching on inclined platforms under rapid and irregular motion. Specifically, we employ a two-stage learning strategy consisting of state-based pre-training followed by...
PerchRL: Vision-Based Agile Perching on Inclined Platforms under Rapid and Irregular Motion
arXiv:2606.03441v2 Announce Type: replace Abstract: Autonomous vision-based perching of quadrotors on moving inclined platforms is critical for air-ground collaboration but remains challenging due to the limited field of view (FOV). In this paper, we propose PerchRL, a reinforcement learning (RL) framework for vision-based agile perching on inclined platforms under rapid and irregular motion. Specifically, we employ a two-stage learning strategy consisting of state-based pre-training...