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.
• 其他作者: School of Mechanical and Aerospace Engineering
• 格式: Conference or Workshop Item
• 語言: English
• 出版: 2020
• 主題: Engineering::Electrical and electronic engineering; Aerodynamics; Autonomous Aerial Vehicles
• 在線閱讀: https://hdl.handle.net/10356/141405
• 機構: 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...