Non-parametric UAV system identification with dependent Gaussian processes

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 4435-4441

  Hemakumara, Prasad ^a   Sukkarieh, Salah ^a  

^a UNIVERSITY OF SYDNEY   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

AIRCRAFT SYSTEM IDENTIFICATION; FLIGHT DATA; FLIGHT MODES; FLIGHT TEST; FLIGHT TESTING; GAUSSIAN PROCESSES; LABOR INTENSIVE; MOMENT COEFFICIENT; NON-PARAMETRIC; NONLINEAR FLIGHT DYNAMICS; PHYSICAL MODELING; PRIOR KNOWLEDGE;

DYNAMIC MODELS; FLIGHT ENVELOPES; GAUSSIAN DISTRIBUTION; GAUSSIAN NOISE (ELECTRONIC); MODELS; UNCERTAINTY ANALYSIS; UNMANNED AERIAL VEHICLES (UAV);

ROBOTICS;

EID: 84871709040     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5979728     Document Type: Conference Paper

References (19)

1. V. Klein and E. Morelli, Aircraft System Identification: Theory and Practice. American Institute of Aeronautics and Astronautics, Reston, VA, 2006.
2. R. Mehra, D. Stepner, and J. Tyler, "Maximum likelihood identification of aircraft stability and control derivatives," Journal of Aircraft, vol. 11, pp. 81-89, 1974.
3. M. Tischler, "System identification methods for aircraft flight control development and validation," Advances in Aircraft Flight Control, 1996.
4. D. Linse and R. Stengel, "Identification of aerodynamic coefficients using computational neural networks," Journal of Guidance, Control, and Dynamics, vol. 16, no. 6, pp. 1018-1025, 1993.
5. A. Coates, P. Abbeel, and A. Ng, "Learning for control from multiple demonstrations," in Proceedings of the 25th international conference on Machine learning, 2008, pp. 144-151.
6. P. Abbeel, A. Coates, M. Quigley, and A. Ng, "An application of reinforcement learning to aerobatic helicopter flight," in Proceedings of the 19th conference on Advances in Neural Information Processing Systems, 2006.
7. C. Rasmussen and C. Williams, Gaussian processes for machine learning. Cambridge: The MIT Press, 2006.
8. J. Ko, D. Klein, D. Fox, and D. Haehnel, "Gaussian processes and reinforcement learning for identification and control of an autonomous blimp," in Proceedings of the IEEE International Conference on Robotics and Automation, 2007, pp. 742-747.
9. D. Grimes, R. Chalodhorn, and R. Rao, "Dynamic imitation in a humanoid robot through nonparametric probabilistic inference," in Proceedings of Robotics: Science and Systems, 2006.
10. J. Kocijan, A. Girard, B. Banko, and R. Murray-Smith, "Dynamic systems identification with gaussian processes," Mathematical and Computer Modelling of Dynamical Systems, vol. 11, no. 4, pp. 411-424, 2005.
11. G. Gregorcic and G. Lightbody, "Gaussian processes for modelling of dynamic non-linear systems," in Proceedings of the Irish Signals and Systems Conference, 2002, pp. 141-147.
12. P. Goovaerts, Geostatistics for natural resources evaluation. Oxford University Press, USA, 1997.
13. P. Boyle and M. Frean, "Dependent gaussian processes," in Proceedings of the 17th conference on Advances in neural information processing systems, 2005, pp. 217-224.
14. P. Boyle, "Gaussian processes for regression and optimisation," Ph.D. dissertation, Victoria University of Wellington, Wellington, 2006.
15. M. Tischler and R. Remple, Aircraft and Rotorcraft System Identification: Engineering Methods with Flight Test Examples. American Institute of Aeronautics and Astronautics, Reston, VA, 2006.
16. E. Nettleton, "Decentralised architectures for tracking and navigation with multiple flight vehicles," Ph.D. dissertation, The University of Sydney, Sydney, 2003.
17. D. Cole, A. Goktogan, and S. Sukkarieh, "The demonstration of a cooperative control architecture for uav teams," in Experimental Robotics. Springer, 2008, pp. 501-510.
18. J. Kim and S. Sukkarieh, "Airborne simultaneous localisation and map building," in Proceedings of the IEEE International Conference on Robotics and Automation, 2003, pp. 406-411.
19. M. Bryson and S. Sukkarieh, "Building a robust implementation of bearing-only inertial slam for a uav," Journal of Field Robotics, vol. 24, no. 1-2, pp. 113-143, 2007.