Paper presented at Unmanned Aircraft Systems Conference
SESAME partner University of Luxembourg in collaboration with the Advance Centre for Aerospace Technologies (CATEC) in Seville, have presented a technical paper at the International Conference on Unmanned Aircraft Systems (ICUAS) held in Dubrovnik, Croatia. The paper titled: Towards Online System Identification: Benchmark of Model Identification Techniques for Variable Dynamics UAV Applications aims to benchmark how classical model identification techniques perform when adapted to be used at runtime. This self-awareness capability will improve transparency giving the robot the capability to understand what it can do and how to perform optimally. To do so, this paper compares four different model identification techniques and how they perform online in terms of accuracy and computational cost. The online adaptation of the model identification methods has been developed generically to apply to any dynamic system. The methods are numerically evaluated simulating an Unmanned Aerial Vehicle (UAV) with time-varying mass.