An application of reinforcement learning to aerobatic helicopter flight

Advances in Neural Information Processing Systems

Volumn , Issue , 2007, Pages 1-8

  Abbeel, Pieter ^a   Coates, Adam ^a   Quigley, Morgan ^a   Ng, Andrew Y ^a  

^a Stanford University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AUTONOMOUS HELICOPTERS; CONTROL PROBLEMS; DIFFERENTIAL DYNAMIC PROGRAMMING; HELICOPTER DYNAMICS; LINEAR QUADRATIC REGULATOR; LOW SPEED; OPTIMAL CONTROLS; RC HELICOPTER; REWARD FUNCTION; STATE OF THE ART;

REINFORCEMENT LEARNING;

HELICOPTERS;

EID: 84864030941     PISSN: 10495258     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (20)

1. P. Abbeel, Varun Ganapathi, and Andrew Y. Ng. Learning vehicular dynamics with application to modeling helicopters. In NIPS 18, 2006.
2. P. Abbeel and A. Y. Ng. Apprenticeship learning via inverse reinforcement learning. In Proc. ICML, 2004.
3. P. Abbeel and A. Y. Ng. Exploration and apprenticeship learning in reinforcement learning. In Proc. ICML, 2005.
4. P. Abbeel and A. Y. Ng. Learning first order Markov models for control. In NIPS 18, 2005.
5. B. Anderson and J. Moore. Optimal Control: Linear Quadratic Methods. Prentice-Hall, 1989.
6. J. Bagnell and J. Schneider. Autonomous helicopter control using reinforcement learning policy search methods. In International Conference on Robotics and Automation. IEEE, 2001.
7. Ronen I. Brafman and Moshe Tennenholtz. R-max, a general polynomial time algorithm for near-optimal reinforcement learning. Journal of Machine Learning Research, 2002.
8. V. Gavrilets, I. Martinos, B. Mettler, and E. Feron. Flight test and simulation results for an autonomous aerobatic helicopter. In AIAA/IEEE Digital Avionics Systems Conference, 2002.
9. V. Gavrilets, B. Mettler, and E. Feron. Human-inspired control logic for automated maneuvering of miniature helicopter. Journal of Guidance, Control, and Dynamics, 27(5):752-759, 2004.
10. S. Kakade, M. Kearns, and J. Langford. Exploration in metric state spaces. In Proc. ICML, 2003.
11. M. Kearns and D. Koller. Efficient reinforcement learning in factored MDPs. In Proc. IJCAI, 1999.
12. M. Kearns and S. Singh. Near-optimal reinforcement learning in polynomial time. Machine Learning Journal, 2002.
13. ∞ loop shaping controller for a robotic helicopter. Journal of Guidance, Control, and Dynamics, 29(2):485-494, March-April 2006.
14. J. Leishman. Principles of Helicopter Aerodynamics. Cambridge University Press, 2000.
15. B. Mettler, M. Tischler, and T. Kanade. System identification of small-size unmanned helicopter dynamics. In American Helicopter Society, 55th Forum, 1999.
16. A. Y. Ng, A. Coates, M. Diel, V. Ganapathi, J. Schulte, B. Tse, E. Berger, and E. Liang. Autonomous inverted helicopter flight via reinforcement learning. In Int'l Symposium on Experimental Robotics, 2004.
17. Andrew Y. Ng, H. Jin Kim, Michael Jordan, and Shankar Sastry. Autonomous helicopter flight via reinforcement learning. In NIPS 16, 2004.
18. Jonathan M. Roberts, Peter I. Corke, and Gregg Buskey. Low-cost flight control system for a small autonomous helicopter. In IEEE Int'l Conf. on Robotics and Automation, 2003.
19. S. Saripalli, J. F. Montgomery, and G. S. Sukhatme. Visually-guided landing of an unmanned aerial vehicle. IEEE Transactions on Robotics and Autonomous Systems, 2003.
20. J. Seddon. Basic Helicopter Aerodynamics. AIAA Education Series. America Institute of Aeronautics and Astronautics, 1990.