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An Application of Reinforcement Learning to Aerobatic Helicopter Flight
Abstract
Autonomous helicopter flight is widely regarded to be a highly challenging control problem. This paper presents the first successful autonomous completion on a real RC helicopter of the following four aerobatic maneuvers: forward flip and sideways roll at low speed, tail-in funnel, and nose-in funnel. Our experimental results significantly extend the state of the art in autonomous helicopter flight. We used the following approach: First we had a pilot fly the helicopter to help us find a helicopter dynamics model and a reward (cost) function. Then we used a reinforcement learning (optimal control) algorithm to find a controller that is optimized for the resulting model and reward function. More specifically, we used differential dynamic programming (DDP), an extension of the linear quadratic regulator (LQR). 1
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Cited by
A survey of robot learning from demonstration
Argall, B. D., Chernova, S., Veloso, M., & Browning, B. (2009) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2008.10.024 · Cited by 3,227
Reinforcement learning in robotics: A survey
Kober, J., Bagnell, J. A., & Peters, J. (2013) · The International Journal of Robotics Research · doi:10.1177/0278364913495721 · Cited by 3,160
Resource Management with Deep Reinforcement Learning
Mao, H., Alizadeh, M., Menache, I., & Kandula, S. (2016) · Proceedings of the 15th ACM Workshop on Hot Topics in Networks · doi:10.1145/3005745.3005750 · Cited by 1,353
Imitation Learning: A Survey of Learning Methods
Hussein, A., Gaber, M. M., Elyan, E., & Jayne, C. (2018) · ACM Computing Surveys · doi:10.1145/3054912 · Cited by 1,060
Algorithms for Reinforcement Learning
Szepesvári, C. (2010) · Synthesis Lectures on Artificial Intelligence and Machine Learning · doi:10.1007/978-3-031-01551-9 · Cited by 1,049
Metadata
- Authors
- Abbeel, P., Coates, A., Quigley, M., & Ng, A. Y.
- Venue
- Advances in Neural Information Processing Systems 19
- Publisher
- The MIT Press
- Published
- 2007-09-07
- Pages
- 1-8
- OpenAlex
- W2169209873
- Cited by
- 535
- References
- 0
- FWCI
- 29.87
- Type
- book chapter
- Language
- en
- Open access
- closed
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- Abbeel, P., Coates, A., Quigley, M., & Ng, A. Y. (2007). An Application of Reinforcement Learning to Aerobatic Helicopter Flight. Advances in Neural Information Processing Systems 19. https://doi.org/10.7551/mitpress/7503.003.0006
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