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In this paper, we describe a stochastic learning approach for planning of assembly and construction tasks of 3-D structures using multiple quadrotors. A planning framework is proposed to generate different sets of high-level plans for the aerial robots. This architecture demonstrates significant advances in ability to quickly find good solutions for complex construction tasks, considering the real...
The real-time estimation of the attitude and heading is a fundamental task for an autonomous vehicle to operate properly. Nowadays, the determination of this information using low cost sensors is a very active research area in robotics applications. Therefore, a new method in sensory fusion to attitude estimation using low cost devices is addressed in this paper. The Attitude and Heading Reference...
This paper presents an adaptive approach based on the Reinforcement Learning (RL) method to manipulate and transport parts and also assemble 3-D structures in a moderately constrained and dynamic environment using a quad-rotor. Nowadays, complex construction tasks using mobile robots are characterized by two fundamental problems such as task planning and motion planning. However, to obtain the task...
In this paper, we explore the application of Reinforcement Learning (RL) to the derivation of control laws for the flight control of an unmanned aerial vehicle (UAV). The controllers are derived off-line with a simulation and the solutions are ported to an actual aircraft. Experimental results showed that the controllers stabilize the quad-rotor during the path tracking as has been learned in the...
In this paper will be presented a novel approach to design and optimization of attitude and path tracking controller for quad-rotor robots based on Learning Automata algorithm. The proposed method has superior features, including easy implementation, stable and fast convergence characteristic, and good computational efficiency while compared with others learning approaches. The quad-rotor robots have...
There is a lot of interest in using quad-rotor helicopters as Miniature Aerial Vehicles (MAVs) due to their simple mechanical construction and straightforward propulsion system. However, since these vehicles are highly unstable nonlinear dynamical systems, a suitable control system is required for their attitude stabilization and navigation. This article presents a simulation environment for the design...
This paper presents the design, simulation and real-time implementation of an aircraft longitudinal control system using a test platform constituted of a dedicated microprocessor and the X-Plane flight simulator. Initially, the concepts of longitudinal motion of a rigid body are studied. The dynamic equations of aircraft were determined using the aerodynamic stability coefficients and the longitudinal...
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