基于知识学习的多旋翼飞行机器人非零初始状态控制方法研究61273025;非结构环境下基于非精确信息描述的机器人自主规划方法研究61503369资助.Supported by Knowledge Learning Based Control for Multi-Rotor Flying Robot with Initial Non-zero States61273025;Robots Autonomous Planning Method Based on the Accurate Information Modeling in the Unstructured Environment61503369