A few lessons learned in reinforcement learning for quadcopter attitude control
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Summary
This paper discusses theoretical as well as practical aspects of training neural nets for controlling a crazyflie 2.0 drone, and describes thoroughly the choices in training algorithms, neural net architecture, hyperparameters, observation space etc.
- Type
- preprint
- Published
- 2021-05-19
- Cited by
- 21
- References
- 54
- Access
- Open access
- OpenAlex
- https://openalex.org/W3165725870
- Semantic Scholar
- https://api.semanticscholar.org/CorpusID:233486378
Keywords
Quadcopter, Reinforcement learning, Computer science, Robustness (evolution), Artificial intelligence
References
- Robust markov decision processes with uncertain transition matrices
- Reinforcement learning is direct adaptive optimal control
- The explicit linear quadratic regulator for constrained systems
- STL⁎: Extending signal temporal logic with signal-value freezing operator
- Robustness of temporal logic specifications for continuous-time signals
- PILCO: A Model-Based and Data-Efficient Approach to Policy Search
- Nonlinear Dynamic Modeling for High Performance Control of a Quadrotor
- Design of a Trajectory Tracking Controller for a Nanoquadcopter
- Q-Learning for robust satisfaction of signal temporal logic specifications
- Gust Load Alleviation: Identification, Control, and Wind Tunnel Testing of a 2-D Aeroelastic Airfoil
- Control of a Quadrotor With Reinforcement Learning
- Proximal Policy Optimization Algorithms
- System Identification of the Crazyflie 2.0 Nano Quadrocopter
- Reinforcement Learning for UAV Attitude Control
- Control Barrier Functions for Signal Temporal Logic Tasks
- A deep learning-based approach to robust nonlinear model predictive control
- Soft Actor-Critic Algorithms and Applications
- Low-Level Control of a Quadrotor With Deep Model-Based Reinforcement Learning
- Arithmetic-Geometric Mean Robustness for Control from Signal Temporal Logic Specifications
- Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors
Cited by
- Reinforcement Learning with Formal Performance Metrics for Quadcopter Attitude Control under Non-nominal Contexts
- Data-Efficient Deep Reinforcement Learning for Attitude Control of Fixed-Wing UAVs: Field Experiments
- Successive Convexification for Optimal Control with Signal Temporal Logic Specifications
- Using Double Deep Q-Learning to learn Attitude Control of Fixed-Wing Aircraft
- Ablation Study of How Run Time Assurance Impacts the Training and Performance of Reinforcement Learning Agents
- Demonstrating Reinforcement Learning and Run Time Assurance for Spacecraft Inspection Using Unmanned Aerial Vehicles
- Space Processor Computation Time Analysis for Reinforcement Learning and Run Time Assurance Control Policies
- Fault-tolerant control for UAV based on deep reinforcement learning under single rotor failure
- A Review of Reinforcement Learning for Fixed-Wing Aircraft Control Tasks
- cc-DRL: a Convex Combined Deep Reinforcement Learning Flight Control Design for a Morphing Quadrotor
- Investigating the Impact of Choice on Deep Reinforcement Learning for Space Controls
- Curriculum-based Sample Efficient Reinforcement Learning for Robust Stabilization of a Quadrotor
- Space Processor Computation Time Analysis for Reinforcement Learning and Run Time Assurance Control Policies
- Demonstrating Reinforcement Learning and Run Time Assurance for Spacecraft Inspection Using Unmanned Aerial Vehicles
- Reinforcement Learning Based Attitude Control of Quadcopter
- cc-DRL: A Convex Combined Deep Reinforcement Learning Flight Control Design of a Morphing Quadrotor
- Autonomous Navigation at the Nano-Scale: Algorithms, Architectures, and Constraints
- Research on Aircraft Spin Recovery Method Utilizing Deep Deterministic Policy Gradient
- Physical-Constraint-Embedded Deep Reinforcement Learning Approach for Flight Control of Flying-Wing Vehicle
- A Scoping Review of the Crazyflie Ecosystem: An Evaluation of an Open-Source Platform for Nano-Aerial Robotics Research
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