日本ロボット学会誌（JRSJ）に塩塚さんの論文が採録

塩塚さん（博士課程1年）の論文が日本ロボット学会誌（JRSJ）に採録されました。

論文情報

• 塩塚 竜也, 坂東 麻衣, 外本 伸治, “動的モード分解を用いたドローンのデータ駆動型モデリング,” 日本ロボット学会誌, 2025, 43 巻, 10 号, p. 1020-1023.
• https://doi.org/10.7210/jrsj.43.1020

概要

This study explores the application of Dynamic Mode Decomposition (DMD), a data-driven modeling technique, for drone modeling. Conventional model-based control methods for dynamic systems, such as drones, require precise models, which are difficult to create due to challenges in obtaining exact component parameters and accounting for real-world disturbances. To overcome these issues, DMD with Control (DMDc), an extension of DMD to control systems, is applied to drone modeling. We collect time-series data from drones following circular trajectories and use this to construct a DMDc model. The model’s accuracy was then evaluated on both circular and figure-8 trajectories.