# Rotational Error Metrics for Quadrotor Control

PDF available from arXiv.
This work was originally presented at the IROS 2020 workshop: Perception, Learning, and Control for Autonomous Agile Vehicles, where we co-won the **Best Workshop Paper Award**.

See Quadrotor Simulation for a sandbox where the simulation experiments described in the workshop paper and shown here can be run interactively.

## Simultaneous Position and Yaw Step

**Objective**: Translate 3 meters and turn 180 degrees in yaw simultaneously. Step inputs are provided to the controller in position and yaw.

### Continuous SO(3) - "Skew Symmetric" Control

### Discontinuous SO(3) - "Quaternion" Control

Note the significant sideways deviation for both controllers that use full SO(3) control.

### Reduced Attitude Control

### Feedback Linearization

Reduced attitude control and feedback linearization follow much more linear paths to the goal position.

## Diagonal Step

**Objective**: Translate diagonally 3 meters along both the X and Y axes. A step input in position is provided to the controller.

### Continuous SO(3) - "Skew Symmetric" Control

### Discontinuous SO(3) - "Quaternion" Control

Note the significant deviation away from the straight-line diagonal path for both controllers that use full SO(3) control.

### Reduced Attitude Control

### Feedback Linearization

Reduced attitude control and feedback linearization again follow much more linear paths to the goal position.

More coming soon!