# An On-Board Learning Scheme for Open-Loop Quadrocopter Maneuvers Using Inertial Sensors and Control Inputs from an External Pilot

Author(s) Ritz, Robin, D'Andrea, Raffaello
Publication Type Conference Contributions, Publication Status: Published
Full Text

## Detailed Information

Title An On-Board Learning Scheme for Open-Loop Quadrocopter Maneuvers Using Inertial Sensors and Control Inputs from an External Pilot
Author(s) Ritz, Robin
D'Andrea, Raffaello
ISBN 978-1-4799-3684-7
Journal or Series Title 2014 IEEE International Conference on Robotics and Automation (ICRA)
Start Page 5245
End Page 5251
Publisher IEEE
Publication Place New York, N.Y.
Publication Date 2014
Abstract We present an iterative learning scheme for improving the performance of highly dynamic open-loop maneuvers with quadrocopters. A probabilistic estimate of the state deviation at the end of the maneuver is obtained by fusing two data sources that are available on-board: 1) an inertial measurement unit, and 2) control inputs from an external pilot that performs a recovery after the open-loop maneuver has been executed. A computationally lightweight policy gradient method is applied in order to adapt a set of characteristic maneuver parameters, which in turn reduces the expected value of the final state deviation for the next execution of the maneuver. The performance of the learning algorithm is demonstrated in the ETH Zurich Flying Machine Arena by improving the performance of a triple flip.
DOI 10.1109/ICRA.2014.6907630
Event Name IEEE International Conference on Robotics and Automation (ICRA), 2014
Event Location Hong Kong, China
Event Date May 31 - June 7, 2014
Document Type Conference Paper
Publication Status Published
Language English
Assigned Organisational Unit(s) 03758
Organisational Unit(s)
Source Database ID FORM-1416655768
SCOPUS-84929224561
Description File Name MIME Type Size
No details could be found
 There are no links available for this record.
 This record has not been viewed during this period

@inproceedings{Rtz2014,
author = "Ritz, Robin and D'Andrea, Raffaello",
title = "{A}n {O}n-{B}oard {L}earning {S}cheme for {O}pen-{L}oop {Q}uadrocopter {M}aneuvers {U}sing {I}nertial {S}ensors and {C}ontrol {I}nputs from an {E}xternal {P}ilot",
year = 2014,
series = "2014 IEEE International Conference on Robotics and Automation (ICRA)",
pages = "5245--5251",