Naslov
A reinforcement learning approach towards autonomous suspended load manipulation using aerial robots

Autori
Palunko, Ivana ; Faust, Aleksandra ; Cruz, Patricio ; Tapia, Lydia ; Fierro, Rafael

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2013 / - : Institute of Electrical and Electronics Engineers (IEEE), 2013, 4896-4901

Skup
IEEE International Conference on Robotics and Automation (ICRA), 2013

Mjesto i datum
Karlsruhe, Njemačka, 06.05.2013. - 10.05.2013

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
autonomous aerial vehicles; helicopters; learning (artificial intelligence); path planning; robot dynamics

Sažetak
In this paper, we present a problem where a suspended load, carried by a rotorcraft aerial robot, performs trajectory tracking. We want to accomplish this by specifying the reference trajectory for the suspended load only. The aerial robot needs to discover/learn its own trajectory which ensures that the suspended load tracks the reference trajectory. As a solution, we propose a method based on least-square policy iteration (LSPI) which is a type of reinforcement learning algorithm. The proposed method is verified through simulation and experiments.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Zrakoplovstvo, raketna i svemirska tehnika

POVEZANOST RADA