Chiranjeev Prachand

Barrier-Shaped Recurrent Reinforcement Learning for Autonomous Landing on a Heaving Ship Deck

This paper addresses autonomous landing of unmanned aerial vehicle (UAV) rotorcrafts on a heaving ship deck using a recurrent policy trained via asymmetric actor-critic reinforcement learning: the critic sees 6 s of future deck height during training, while the actor sees only what the onboard sensors provide in flight...