3 papers
cs.RO2021
Learning-based vs Model-free Adaptive Control of a MAV under Wind Gust
Thomas Chaffre, Julien Moras, Adrien Chan-Hon-Tong +4
Navigation problems under unknown varying conditions are among the most important and well-studied problems in the control field. Classic model-based adaptive control methods can b…
cs.RO2020
Sim-to-Real Transfer with Incremental Environment Complexity for Reinforcement Learning of Depth-Based Robot Navigation
Thomas Chaffre, Julien Moras, Adrien Chan-Hon-Tong +1
Transferring learning-based models to the real world remains one of the hardest problems in model-free control theory. Due to the cost of data collection on a real robot and the li…
cs.RO2019
Exploiting Physical Contacts for Robustness Improvement of a Dot-Painting Mission by a Micro Air Vehicle
Thomas Chaffre, Kevin Tudal, Sylvain Bertrand +1
In this paper we address the problem of dot painting on a wall by a quadrotor Micro Air Vehicle (MAV), using on-board low cost sensors (monocular camera and IMU) for localization.…