ドローン着陸を支援する共有自律システムの学習
Learning to Assist Drone Landings
RGB-D画像を潜在表現に圧縮する知覚モジュールとTD3で訓練した政策モジュールからなる共有自律手法を提案し、初心者パイロットが熟練者と同等以上に安全な着陸を行えることをユーザー研究で示した。
著者: Kal Backman, Dana Kulić, Hoam Chung
分類: cs.RO
原文アブストラクト
Unmanned aerial vehicles (UAVs) are often used for navigating dangerous terrains, however they are difficult to pilot. Due to complex input-output mapping schemes, limited perception, the complex system dynamics and the need to maintain a safe operation distance, novice pilots experience difficulties in performing safe landings in obstacle filled environments. In this work we propose a shared autonomy approach that assists novice pilots to perform safe landings on one of several elevated platforms at a proficiency equal to or greater than experienced pilots. Our approach consists of two modules, a perceptual module and a policy module. The perceptual module compresses high dimensionality RGB-D images into a latent vector trained with a cross-modal variational auto-encoder. The policy module provides assistive control inputs trained with the reinforcement algorithm TD3. We conduct a user study (n=33) where participants land a simulated drone with and without the use of the assistant. Despite the goal platform not being known to the assistant, participants of all skill levels were able to outperform experienced participants while assisted in the task.
