6 papers
Learning Agile Intruder Interception using Differentiable Quadrotor Dynamics
Michael Anoruo, Xiaoyu Tian, Abhishek Rathod +5
This paper presents a methodology for learning a control policy to intercept an intruder using the 3D direction unit vector to the intruder and the interceptor state. Prior deep re…
AcroRL: Learning Aggressive Quadrotor Inversion using Bidirectional Thrust
Gabriel Rodriguez, Henri Sayag, Abhishek Rathod +4
Bidirectional thrust grants quadrotors a second equilibrium condition and increased control authority, expanding the envelope of possible aggressive maneuvers and enabling inverted…
Quadrotor Navigation using Reinforcement Learning with Privileged Information
Jonathan Lee, Abhishek Rathod, Kshitij Goel +2
This paper presents a reinforcement learning-based quadrotor navigation method that leverages efficient differentiable simulation, novel loss functions, and privileged information…
Decentralized Uncertainty-Aware Active Search with a Team of Aerial Robots
Wennie Tabib, John Stecklein, Caleb McDowell +15
Rapid search and rescue is critical to maximizing survival rates following natural disasters. However, these efforts are challenged by the need to search large disaster zones, lack…
Rapid Quadrotor Navigation in Diverse Environments using an Onboard Depth Camera
Jonathan Lee, Abhishek Rathod, Kshitij Goel +2
Search and rescue environments exhibit challenging 3D geometry (e.g., confined spaces, rubble, and breakdown), which necessitates agile and maneuverable aerial robotic systems. Bec…
Active Learning of Discrete-Time Dynamics for Uncertainty-Aware Model Predictive Control
Alessandro Saviolo, Jonathan Frey, Abhishek Rathod +2
Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence…