Residual dynamics learning for trajectory tracking for multi-rotor aerial vehicles.

This paper presents a technique to model the residual dynamics between a high-level planner and a low-level controller by considering reference trajectory tracking in a cluttered environment as an example scenario. We focus on minimising residual dynamics that arise due to only the kinematical modelling of high-level planning. The kinematical modelling is sufficient for such scenarios due to safety constraints and aggressive manoeuvres that are difficult to perform when the environment is cluttered and dynamic.