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Tilt-Rotor Quadcopter with Learned Residual Control and Mode-Dependent State Estimation
Tilt-rotor quadcopters redirect thrust for translation without banking, but complicate modeling, state estimation, and disturbance rejection. This paper presents a simulation-based flight stack for a \SI{2.00}{\kilo\gram} tilt-rotor quadcopter. The system uses a six-degree-of-freedom nonlinear model
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