Learning Agility Adaptation for Flight in Clutter

arXiv:2403.04586v1 Announce Type: cross
Abstract: Animals learn to adapt agility of their movements to their capabilities and the environment they operate in. Mobile robots should also demonstrate this ability to combine agility and safety. The aim of this work is to endow flight vehicles with the ability of agility adaptation in prior unknown and partially observable cluttered environments. We propose a hierarchical learning and planning framework where we utilize both trial and error to comprehensively learn an agility policy with …

abstract adapt agility aim animals arxiv capabilities cs.lg cs.ro environment learn mobile movements prior robots safety the environment type vehicles work