Year: 2006
Type: preprint
Abstract: We introduce a simple framework for learning aggressive maneuvers in flight control of UAVs. Having inspired from biological environment, dynamic movement primitives are analyzed and extended using nonlinear contraction theory. Accordingly, primitives of an observed movement are stably combined and concatenated. We demonstrate our results experimentally on the Quanser Helicopter, in which we first imitate aggressive maneuvers and then use them as primitives to achieve new maneuvers that can fly over an obstacle.
Source: arXiv (Cornell University)
Authors: Perk, Baris E., Slotine, J. J. E.
Language: English
Subfield: Artificial Intelligence
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W1514910877