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Author Coates, Adam ♦ Ng, Andrew Y. ♦ Abbeel, Pieter
Source ACM Digital Library
Content type Text
Publisher Association for Computing Machinery (ACM)
File Format PDF
Language English
Abstract Autonomous helicopter flight is widely regarded to be a highly challenging control problem. As helicopters are highly unstable and exhibit complicated dynamical behavior, it is particularly difficult to design controllers that achieve high performance over a broad flight regime. While these aircraft are notoriously difficult to control, there are expert human pilots who are nonetheless capable of demonstrating a wide variety of maneuvers, including aerobatic maneuvers at the edge of the helicopter's performance envelope. In this paper, we present algorithms for modeling and control that leverage these demonstrations to build high-performance control systems for autonomous helicopters. More specifically, we detail our experiences with the Stanford Autonomous Helicopter, which is now capable of extreme aerobatic flight meeting or exceeding the performance of our own expert pilot.
Description Affiliation: Stanford University, Stanford, CA (Coates, Adam; Ng, Andrew Y.) || University of California, Berkeley, CA (Abbeel, Pieter)
Age Range 18 to 22 years ♦ above 22 year
Educational Use Research
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2005-08-01
Publisher Place New York
Journal Communications of the ACM (CACM)
Volume Number 52
Issue Number 7
Page Count 9
Starting Page 97
Ending Page 105

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Source: ACM Digital Library