# Simulation-to-reality UAV Fault Diagnosis with Deep Learning

arXiv: https://arxiv.org/abs/2302.04410 · HTML: https://mlsanity.com/paper/2302.04410/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 3 of its 20 references that are in the map.
- First posted on arXiv 9 Feb 2023.

## Builds on (most cited first, 3 of 3)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [An Audio-Based Fault Diagnosis Method for Quadrotors Using Convolutional Neural Network and Transfer Learning](https://mlsanity.com/paper/2003.02649/) (2020)
- [Machine Learning for UAV Propeller Fault Detection based on a Hybrid Data Generation Model](https://mlsanity.com/paper/2302.01556/) (2023)

## Abstract (arXiv)

Accurate diagnosis of propeller faults is crucial for ensuring the safe and efficient operation of quadrotors. Training a fault classifier using simulated data and deploying it on a real quadrotor is a cost-effective and safe approach. However, the simulation-to-reality gap often leads to poor performance of the classifier when applied in real flight. In this work, we propose a deep learning model that addresses this issue by utilizing newly identified features (NIF) as input and utilizing domain adaptation techniques to reduce the simulation-to-reality gap. In addition, we introduce an adjusted simulation model that generates training data that more accurately reflects the behavior of real quadrotors. The experimental results demonstrate that our proposed approach achieves an accuracy of 96% in detecting propeller faults. To the best of our knowledge, this is the first reliable and efficient method for simulation-to-reality fault diagnosis of quadrotor propellers.