FALCON-S: 固定翼地面効果空力シミュレータと飛行制御学習スイート
FALCON-S: Fixed-wing ground-effect Aerodynamics Simulator and Flight Control Learning Suite
固定翼航空ロボットの地面近くでの飛行制御開発・評価のための高忠実度シミュレーションフレームワークを提案。6自由度物理、地面効果空力、センサノイズ等をモデル化し、RL学習や最適制御の並列実行を可能にする。
著者: Matteo El Hariry, Pedro Lima, Andrej Orsula, Matthieu Geist, Miguel Olivares-Mendez
分類: cs.RO, cs.LG, eess.SY
原文アブストラクト
We present a modular, high-fidelity simulation framework for the development and benchmarking of flight control strategies in fixed-wing aerial robots operating near the ground. Unlike existing simulators that rely on simplified or hover-oriented dynamics, our framework models full 6DoF rigid-body physics, semi-empirical ground-effect aerodynamics, actuator dynamics, sensor noise, and environmental disturbances. This physical realism, combined with modular component design, enables systematic analysis of low-altitude flight behavior under realistic conditions. The simulator supports both CPU and GPU backends via Torch and NVIDIA Warp, enabling high-throughput parallel execution suitable for large-scale reinforcement learning training and optimal control rollouts. A unified interface accommodates a range of controllers (both RL and optical control algorithms) across tasks such as altitude regulation and trajectory tracking. Cross-validation with X-Plane and JSBSim is also supported to facilitate engineering integration and visual fidelity.