Shaker, Marwan and Smith, Mark N. R. and Yue, Shigang and Duckett, Tom (2010) Vision-based landing of a simulated unmanned aerial vehicle with fast reinforcement learning. In: International Symposium on Learning and Adaptive Behaviour in Robotics Systems (LAB-RS 2010), 6-7 September 2010, Canterbury, UK.
Full content URL: http://www.est-2010.info/download/EST%202010%20pre...
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Landing is one of the difficult challenges for an unmanned
aerial vehicle (UAV). In this paper, we propose a vision-based landing approach for an autonomous UAV using reinforcement learning (RL). The autonomous UAV learns the landing skill from scratch by interacting with the environment. The reinforcement learning algorithm explored and extended in this study is Least-Squares Policy Iteration (LSPI) to gain a fast learning process and a smooth landing trajectory. The proposed approach has been tested with a simulated quadrocopter in an extended version of the USARSim Unified System for Automation and Robot Simulation) environment. Results showed that LSPI learned the landing skill very quickly, requiring less than 142 trials.
|Item Type:||Conference or Workshop Item (Paper)|
|Additional Information:||Also: Emerging Security Technologies (EST), 2010 International Conference on|
|Keywords:||Reinforcement learning, Landing of Unmanned Aerial Vehicle|
|Subjects:||H Engineering > H670 Robotics and Cybernetics|
H Engineering > H671 Robotics
G Mathematical and Computer Sciences > G400 Computer Science
|Divisions:||College of Science > School of Computer Science|
|Deposited By:||INVALID USER|
|Deposited On:||18 Jan 2011 20:51|
|Last Modified:||17 Feb 2014 16:24|
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