Learning Agile, Vision-Based Drone Flight: From Simulation to Reality

被引：1
|
作者：
Scaramuzza, Davide [1 ]
Kaufmann, Elia [1 ]
机构：
[1] Univ Zurich, Zurich, Switzerland
来源：
ROBOTICS RESEARCH, ISRR 2022 | 2023年 / 27卷
基金：
欧洲研究理事会; 瑞士国家科学基金会;
关键词：
D O I：
10.1007/978-3-031-25555-7_2
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
We present our latest research in learning deep sensorimotor policies for agile, vision-based quadrotor flight. We show methodologies for the successful transfer of such policies from simulation to the real world. In addition, we discuss the open research questions that still need to be answered to improve the agility and robustness of autonomous drones toward human-pilot performance.
引用
收藏
页码：11 / 18
页数：8
相关论文
共 50 条
  • [31] Simulation, Learning, and Application of Vision-Based Tactile Sensing at Large Scale
    Luu, Quan Khanh
    Nguyen, Nhan Huu
    Ho, Van Anh
    IEEE TRANSACTIONS ON ROBOTICS, 2023, 39 (03) : 2003 - 2019
  • [32] Approximate Inverse Reinforcement Learning from Vision-based Imitation Learning
    Lee, Keuntaek
    Vlahov, Bogdan
    Gibson, Jason
    Rehg, James M.
    Theodorou, Evangelos A.
    2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021), 2021, : 10793 - 10799
  • [33] Vision-based flight control of lateral perturbations in hawkmoths
    Muller, T.
    Taylor, G. K.
    INTEGRATIVE AND COMPARATIVE BIOLOGY, 2015, 55 : E130 - E130
  • [34] Vision-based flight control in the hawkmoth Hyles lineata
    Windsor, Shane P.
    Bomphrey, Richard J.
    Taylor, Graham K.
    JOURNAL OF THE ROYAL SOCIETY INTERFACE, 2014, 11 (91)
  • [35] Monocular Vision-Based Guidance and Control for a Formation Flight
    Cheon, Bong-kyu
    Kim, Jeong-ho
    Min, Chan-oh
    Han, Dong-in
    Cho, Kyeum-rae
    Lee, Dae-woo
    Seong, Kie-jeong
    INTERNATIONAL JOURNAL OF AERONAUTICAL AND SPACE SCIENCES, 2015, 16 (04) : 581 - 589
  • [36] Vision-based control of near-obstacle flight
    Beyeler, Antoine
    Zufferey, Jean-Christophe
    Floreano, Dario
    AUTONOMOUS ROBOTS, 2009, 27 (03) : 201 - 219
  • [37] Vision-based UAV flight control and obstacle avoidance
    He, Zhihai
    Venkataraman Iyer, Ram
    Chandler, Phillip R.
    2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12, 2006, 1-12 : 2166 - +
  • [38] Machine vision-based sensing for helicopter flight control
    Oertel, CH
    ROBOTICA, 2000, 18 (03) : 299 - 303
  • [39] Vision-based control of near-obstacle flight
    Antoine Beyeler
    Jean-Christophe Zufferey
    Dario Floreano
    Autonomous Robots, 2009, 27 : 201 - 219
  • [40] FACT: Fast and Active Coordinate Initialization for Vision-Based Drone Swarms
    Li, Yuan
    Zhao, Anke
    Wang, Yingjian
    Xu, Ziyi
    Zhou, Xin
    Xu, Chao
    Zhou, Jinni
    Gao, Fei
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2025, 10 (02): : 931 - 938
12345