Model-Based Meta-Reinforcement Learning for Flight With Suspended Payloads

• Published in: IEEE robotics and automation letters Vol. 6; no. 2; pp. 1471 - 1478
• Main Authors: Belkhale, Suneel, Li, Rachel, Kahn, Gregory, McAllister, Rowan, Calandra, Roberto, Levine, Sergey
• Format: Journal Article
• Language: English
• Published: IEEE 01.04.2021
• Subjects: Adaptation models; Data models; Heuristic algorithms; Machine learning for robot control; Mathematical model; Payloads; probabilistic inference; reinforcement learning; Robots; Task analysis

Transporting suspended payloads is challenging for autonomous aerial vehicles because the payload can cause significant and unpredictable changes to the robot's dynamics. These changes can lead to suboptimal flight performance or even catastrophic failure. Although adaptive control and learning...