nsidn98 / Dynamic-Soaring

Simulation of trajectory optimisation followed by Albatrosses while flying to achieve zero energy consumption flights

Dynamic-Soaring

Code for "Overhead the Albatross Hangs Motionless Upon the Air with Dynamic Soaring"

Simulation of trajectory optimisation for flight strategies used by albatrosses to achieve zero energy consumption long-flight trajectories along with trajectory stabilisation with LQR to account for noise and errors in dynamics.

Refer the paper for more details.

Final Video Presentation

Wind profile:

Trajectories Optimisation

Travelling Trajectories

Non-travelling Trajectories

Energy Variation

LQR Stabilisation

Note

Done as a course project for the 6.832 Underactuated Robotics Spring 2021 course by Russ Tedrake at MIT.