EKF-SLAM for Quadcopter Using Differential Flatness-Based LQR Control

Round 1

Reviewer 1 Report

This paper proposes to achieve it for a quadcopter using a differential flatness-based linear quadratic regulator while utilizing sensor measurements of an inertial measurement unit and light detection and ranging; and proposes a strategy to reduce the computational cost of EKF-SLAM.

The paper is properly written, but there are many aspects that can be further improved before publication. A copy of the submitted version with remarks is attached including all the comments.

Comments for author File: Comments.pdf

Author Response

The authors attached the response sheet for the reviewer's comments.

Author Response File: Author Response.pdf

Reviewer 2 Report

The work has been properly presented. The underlying ideas of the proposed technique have been clearly explained. The simulation are properly set up with suitable parameter. The findings are appropriate and convincing.

The format of the manuscript has to follow the one set by the journal.

Author Response

The authors appreciate the Reviewer's valuable comments.

Comment: The format of the manuscript has to follow the one set by the journal.

Response: The authors wrote the manuscript according to the format provided by the journal.

Reviewer 3 Report

This paper studies the EKF-SLAM method for Quadcopter by utilizing the differential flatness-based LQR control strategy. Generally speaking, the paper is well organized and written, the theoretical results sound correct and the simulation results can demonstrate the proposed method with details. However, some points are needed before publication:

1)      In the introduction part, the contributions could provide more research background with existing works.

2)      For the LQR-based control method, some remarks could be added with more details on the optimal objective and practical control performance.

3)      For the EKF-SLAM algorithm, some discussions on the practical Quadcopter system could be given.

4)      In the simulation, some comparison results can be provided to better illustrate the advantages of the proposed method.

5)      Some English presentation could be further polished to improve the readability.  

Author Response

The authors attached the response sheet for the reviewer's comments.

Author Response File: Author Response.pdf