Gym environments used in the paper: "Developmental Reinforcement Learning of Control Policy of a Quadcopter UAV with Thrust Vectoring Rotors"

Related tags

Deep Learning reinforcement-learning uav quadcopter robotics python3 mujoco gym-environment mujoco-py mujoco-environments
Overview

gym_multirotor

Gym to train reinforcement learning agents on UAV platforms

Quadrotor Tiltrotor

Requirements

This package has been tested on Ubuntu 18.04 with python 3.6.

python=3.6
numpy
scipy
gym
mujoco_py

Installation

To install, you will have to clone this repository on your personal machine. Follow the below commands:

$ git clone https://github.com/adipandas/gym_multirotor.git
$ cd gym_multirotor
$ pip install -e .

Environments

List of environments available in this repository include:

Environment-ID Description
QuadrotorPlusHoverEnv-v0 Quadrotor with + configuration with task to hover.
TiltrotorPlus8DofHoverEnv-v0 Tiltrotor with + configuration.
QuadrotorXHoverEnv-v0 Quadrotor with x configuration with a task to hover.

References

REFERENCES.md

Citation

If you find this work useful, please cite our work:

@inproceedings{deshpande2020developmental,
  title={Developmental reinforcement learning of control policy of a quadcopter UAV with thrust vectoring rotors},
  author={Deshpande, Aditya M and Kumar, Rumit and Minai, Ali A and Kumar, Manish},
  booktitle={Dynamic Systems and Control Conference},
  volume={84287},
  pages={V002T36A011},
  year={2020},
  organization={American Society of Mechanical Engineers}
}

Notes:

  • Some of the environment parameters have been updated but the task of these drone environments still remains the same as what was discussed in the paper.
  • I will keep on updating these codes as I make further progress in my work.
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Comments
  • How to start the training process?

    How to start the training process?

    Hi guys,

    I am quite new of mujoco environments. I should have correctly installed all the dependencies of the gym_multirotor software. However, I am not able to find doc on how to start the training process. I am trying to train the flat quadrotor (no matter if it a plus or X conf).

    I run the following code:

    $ python3 quadrotor_plus_hover.py

    However, nothing happen after this command. I startes as standalone the mujoco xml simulation files and everything is correct.

    How is supposed to start the training process?

    Cheers,

    opened by jocacace 1
  • envs usage

    envs usage

    Hi adipandas! :) I've read you papers and loved them! I'm starting to learn how to work with Mujoco and RL. Could you please tell me how can I use your files? I'm able to see your .xml files in my Mujoco simulator (because I dragged them into Mujoco), but I don't know how to make it work according to your .py files. Thank you!

    opened by AlmeidaAlin3 0
Owner
Aditya M. Deshpande
Aditya M. Deshpande
GitHub https://arxiv.org/abs/2007.07793v1
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