Autonomous helicopter flight via reinforcement learning

Advances in Neural Information Processing Systems

Volumn , Issue , 2004, Pages

  Ng, Andrew Y ^a   Kim, H Jin ^b   Jordan, Michael I ^b   Sastry, Shankar ^b  

^a STANFORD UNIVERSITY   (United States)

^b UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

REINFORCEMENT LEARNING; STOCHASTIC MODELS;

AUTONOMOUS HELICOPTER FLIGHTS; CONTROL PROBLEMS; FIRST FIT; HELICOPTER DYNAMICS; NON-LINEAR MODEL; RC HELICOPTER;

HELICOPTERS;

EID: 84898980684     PISSN: 10495258     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (12)

1. J. Bagnell and J. Schneider. Autonomous helicopter control using reinforcement learning policy search methods. In Int'l Conf. Robotics and Automation. IEEE, 2001.
2. G. Balas, J. Doyle, K. Glover, A. Packard, and R. Smith. 5 -analysis and synthesis toolbox user's guide, 1995.
3. W. Cleveland. Robust locally weighted regression and smoothing scatterplots. J. Amer. Stat. Assoc, 74, 1979.
4. Gene F. Franklin, J. David Powell, and Abbas Emani-Naeini. Feedback Control of Dynamic Systems. Addison-Wesley, 1995.
5. Y. Ho and X. Cao. Pertubation analysis of discrete event dynamic systems. Kluwer, 1991.
6. J. Kiefer and J. Wolfowitz. Stochastic estimation of the maximum of a regression function. Annals of Mathematical Statistics, 23:462-466, 1952.
7. J. Leishman. Principles of Helicopter Aerodynamics. Cambridge Univ. Press, 2000.
8. A. Y. Ng, D. Harada, and S. Russell. Policy invariance under reward transformations: Theory and application to reward shaping. In Proc. 16th ICML, pages 278-287, 1999.
9. Andrew Y. Ng. Shaping and policy search in reinforcement learning. PhD thesis, EECS, University of California, Berkeley, 2003.
10. Andrew Y. Ng and Michael I. Jordan. PEGASUS: A policy search method for large MDPs and POMDPs. In Proc. 16th Conf. Uncertainty in Artificial Intelligence, 2000.
11. C. Atkeson, S. Schaal and A. Moore. Locally weighted learning. AI Review, 11, 1997.
12. Hyunchul Shim. Hierarchical flight control system synthesis for rotorcraft-based unmanned aerial vehicles. PhD thesis, Mech. Engr., U.C. Berkeley, 2000.