<ul><li>This paper presents an external wrench estimator for aerial robots.</li><li>The estimator uses a hybrid dynamics model that combines a first-principles model and a neural network.</li><li>The framework addresses the limitations of state-of-the-art model-based wrench observers.</li><li>The proposed method improves wrench estimation by reducing the contributions from residual dynamics and focusing more on the external wrench.</li></ul>

External-Wrench Estimation for Aerial Robots Exploiting a Learned Model

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