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Title:

Using Simulation Optimization to Improve Zero-shot Policy Transfer of Quadrotors

Document type:
Zeitschriftenaufsatz
Author(s):
Gronauer, Sven; Kissel, Matthias; Sacchetto, Luca; Korte, Mathias; Diepold, Klaus J.
Abstract:
In this work, we propose a data-driven approach to optimize the parameters of a simulation such that control policies can be directly transferred from simulation to a real-world quadrotor. Our neural network-based policies take only onboard sensor data as input and run entirely on the embed-ded hardware. In real-world experiments, we compare low-level Pulse-Width Modulated control with higher-level control structures such as Attitude Rate and Attitude, which utilize Proportional-Integral-Derivat...     »
Journal title:
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year:
2022
Fulltext / DOI:
doi:10.1109/IROS47612.2022.9981229
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