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In this paper, we apply reinforcement learning(RL) to control a 3-Dof manipulator. Learning is achieved by using an on-policy temporal difference(TD) learning. In order to control the manipulator, the TD agents are in charge of the movements of the robot by adjusting each angle. We first implement the SARSA algorithm by repeatedly updating a hash-table with the current and next state-action values,...
This paper addresses the control problem of transportation of a slung load by a multi-rotor. Control of the slung load system cannot be achieved with usual controllers for multi-rotors because motion of the load is highly coupled with the multi-rotor. Although many controllers have been developed for the system, there still exist several problems. For instance, in trajectory-following control, many...
This paper presents a practical swing-angle estimation method for slung load operations of the multi-rotor unmanned aerial vehicle (UAV), which is essential to maintain the safety during the operation. In order not to rely on extra sensors for monitoring the swing angle, the proposed method in this paper offers an autonomous swing-angle estimation using only an inertial measurement unit (IMU) and...
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