相关论文: An Integrated Imitation and Reinforcement Learning…

The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…

Aircraft performance models play a key role in airline operations, especially in planning a fuel-efficient flight. In practice, manufacturers provide guidelines which are slightly modified throughout the aircraft life cycle via the tuning…

The current Air Traffic Management (ATM) system worldwide has reached its limits in terms of predictability, efficiency and cost effectiveness. Different initiatives worldwide propose trajectory-oriented transformations that require high…

With the recent advances in machine learning, creating agents that behave realistically in simulated air combat has become a growing field of interest. This survey explores the application of machine learning techniques for modeling air…

One major barrier to advancing aerial autonomy has been collecting large-scale aerial datasets for training machine learning models. Due to costly and time-consuming real-world data collection through deploying drones, there has been an…

Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspection. This comes at the price of an increase in model…

This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…

Deep reinforcement learning provides a promising approach for vision-based control of real-world robots. However, the generalization of such models depends critically on the quantity and variety of data available for training. This data can…

Learning to control robots without requiring engineered models has been a long-term goal, promising diverse and novel applications. Yet, reinforcement learning has only achieved limited impact on real-time robot control due to its high…

Performing striking aerobatic flight in complex environments demands manual designs of key maneuvers in advance, which is intricate and time-consuming as the horizon of the trajectory performed becomes long. This paper presents a novel…

Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…

Systems like aircraft and spacecraft are expensive to operate in the real world. The design, validation, and testing for such systems therefore relies on a combination of mathematical modeling, abundant numerical simulations, and a…

Realistic aircraft trajectory models are useful in the design and validation of air traffic management (ATM) systems. Models of aircraft operated under instrument flight rules (IFR) require capturing the variability inherent in how aircraft…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

The capability to autonomously track a non-cooperative target is a key technological requirement for micro aerial vehicles. In this paper, we propose an output feedback control scheme based on deep reinforcement learning for controlling a…

Engineering complex systems (aircraft, buildings, vehicles) requires coordinating geometric and performance couplings across subsystems. As generative models proliferate for specialized domains, a key research gap is how to coordinate…

Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and rotor dynamics. While model-based controllers can achieve high…

Model-based reinforcement learning attempts to use an available or learned model to improve the data efficiency of reinforcement learning. This work proposes a one-step lookback approach that jointly learns the deep incremental model and…

Controlling the flight of flapping-wing drones requires versatile controllers that handle their time-varying, nonlinear, and underactuated dynamics from incomplete and noisy sensor data. Model-based methods struggle with accurate modeling,…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…