This Review discusses the main results obtained in training end-to-end neural architectures for guidance and control of interplanetary transfers, planetary landings, and close-proximity operations, highlighting the successful learning of optimality principles by the underlying neural models. Spacecraft and drones aimed at exploring our solar system are designed to operate in conditions where the smart use of onboard resources is vital to the success or failure of the mission. Sensorimotor actions are thus often derived from high-level, quantifiable, optimality principles assigned to each task, using consolidated tools in optimal control theory. The planned actions are derived on the ground and transferred on board, where controllers have the task of tracking the uploaded guidance profile. Here, we review recent trends based on the use of end-to-end networks, called guidance and control networks (G&CNets), which allow spacecraft to depart from such an architecture and to embrace the onboard computation of optimal actions. In this way, the sensor information is transformed in real time into optimal plans, thus increasing mission autonomy and robustness. We then analyze drone racing as an ideal gym environment to test these architectures on real robotic platforms and thus increase confidence in their use in future space exploration missions. Drone racing not only shares with spacecraft missions both limited onboard computational capabilities and similar control structures induced from the optimality principle sought but also entails different levels of uncertainties and unmodeled effects and a very different dynamical timescale. ... Read more

Reaching fast and autonomous flight requires computationally efficient and robust algorithms. To this end, we train Guidance & Control Networks to approximate optimal control policies ranging from energy-optimal to time-optimal flight. We show that the policies become more difficult to learn the closer we get to the time-optimal ’bang-bang’ control profile. We also assess the importance of knowing the maximum angular rotor velocity of the quadcopter and show that over- or underestimating this limit leads to less robust flight. We propose an algorithm to identify the current maximum angular rotor velocity onboard and a network that adapts its policy based on the identified limit. Finally, we extend previous work on Guidance & Control Networks by learning to take consecutive waypoints into account. We fly a 4×3m track in similar lap times as the differential-flatness-based minimum snap benchmark controller while benefiting from the flexibility that Guidance & Control Networks offer. ... Read more