Knowledge transfer between robots with similar dynamics for high-accuracy impromptu trajectory tracking

• Main Authors: Zhou, Siqi, Sarabakha, Andriy, Kayacan, Erdal, Helwa, Mohamed K., Schoellig, Angela P.
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering; Aerodynamics; Autonomous Aerial Vehicles
• Online Access: https://hdl.handle.net/10356/141405
• Institution: Nanyang Technological University

In this paper, we propose an online learning approach that enables the inverse dynamics model learned for a source robot to be transferred to a target robot (e.g., from one quadrotor to another quadrotor with different mass or aerodynamic properties). The goal is to leverage knowledge from the sourc...