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Learned Controllers for Agile Quadrotors in Pursuit-Evasion Games
Alejandro Sanchez Roncero, Olov Andersson, Petter Ogren
https://arxiv.org/abs/2506.02849 …

Learned Controllers for Agile Quadrotors in Pursuit-Evasion Games
The increasing proliferation of small UAVs in civilian and military airspace has raised critical safety and security concerns, especially when unauthorized or malicious drones enter restricted zones. In this work, we present a reinforcement learning (RL) framework for agile 1v1 quadrotor pursuit-evasion. We train neural network policies to command body rates and collective thrust, enabling high-speed pursuit and evasive maneuvers that fully exploit the quadrotor's nonlinear dynamics. To mitigat…