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Learning Vision-based Cohesive Flight in Drone Swarms
[article]
2018
arXiv
pre-print
This paper presents a data-driven approach to learning vision-based collective behavior from a simple flocking algorithm. We simulate a swarm of quadrotor drones and formulate the controller as a regression problem in which we generate 3D velocity commands directly from raw camera images. The dataset is created by simultaneously acquiring omnidirectional images and computing the corresponding control command from the flocking algorithm. We show that a convolutional neural network trained on the
arXiv:1809.00543v1
fatcat:lkizzqursnejndc3muovz6riri