Mid-flight Propeller Failure Detection and Control of Propeller-deficient Quadcopter using Reinforcement Learning
For installation instructions please see https://github.com/leggedrobotics/raisimGym.
scripts/quadcopter_position tracking.py can be used to train RL agents as explained in the link above. To test a model, scripts/plotting_stuff.py can be used with the following arguments:
--scene:
0 - 4 propeller system (Default)
1 - 3 propeller system
2 - 2 propeller system
3 - 4 to 3 propeller system
4 - 3 to 2 propeller system
--plot:
0 - Suppress plotting (Default)
1 - Enable plotting
The accompanying paper can be found at https://arxiv.org/abs/2002.11564.
For any queries please contact us at juhi05aakritiagrawal@gmail.com.
- Rohitkumar Arasanipalai
- Aakriti Agrawal
- Debasish Ghose