CL

Authored

6 records found

Adaptive Risk-Tendency

Nano Drone Navigation in Cluttered Environments with Distributional Reinforcement Learning

Enabling the capability of assessing risk and making risk-aware decisions is essential to applying reinforcement learning to safety-critical robots like drones. In this paper, we investigate a specific case where a nano quadcopter robot learns to navigate an apriori-unknown clutt ...
Recent aerospace systems increasingly demand model-free controller synthesis, and autonomous operations require adaptability to uncertainties in partially observable environments. This paper applies distributional reinforcement learning to synthesize risk-sensitive, robust model- ...
Recent aerospace systems increasingly demand model-free controller synthesis, and autonomous operations require adaptability to uncertainties in partially observable environments. This paper applies distributional reinforcement learning to synthesize risk-sensitive, robust model- ...
In this paper, we propose an obstacle avoidance solution for a 34-gram quadcopter equipped with a monocular camera. The perception of obstacles is tackled by a lightweight convolutional neural network predicting a dense depth map from a captured grey-scale image. The depth networ ...
In this paper, we propose an obstacle avoidance solution for a 34-gram quadcopter equipped with a monocular camera. The perception of obstacles is tackled by a lightweight convolutional neural network predicting a dense depth map from a captured grey-scale image. The depth networ ...
Reinforcement learning (RL) equipped with neural networks has recently led to a wide range of successes in learning policies for unmanned aerial vehicle (UAV) navigation and control problems. The success of RL relies on two human-designed heuristics: appropriate action space defi ...

Contributed

1 records found

Distributional Reinforcement Learning for Flight Control

A risk-sensitive approach to aircraft attitude control using Distributional RL

With the recent increase in the complexity of aerospace systems and autonomous operations, there is a need for an increased level of adaptability and model-free controller synthesis. Such operations require the controller to maintain safety and performance without human intervent ...