A Helicopter named Dolly : behavioural cloning for autonomous helicopter control

Buskey, Gregg, Roberts, Jonathan M., & Wyeth, Gordon (2003) A Helicopter named Dolly : behavioural cloning for autonomous helicopter control. In Roberts, Jonathan & Wyeth, Gordon (Eds.) Proceedings of the 2003 Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association Inc, Brisbane, Queensland.

View at publisher


This paper considers the pros and cons of using Behavioural cloning for the development of low-level helicopter automation modules. Over the course of this project several Behavioural cloning approaches have been investigated. The results of the most effective Behavioural cloning approach are then compared to PID modules designed for the same aircraft. The comparison takes into consideration development time, reliability, and control performance. It has been found that Behavioural cloning techniques employing local approximators and a wide state-space coverage during training can produce stabilising control modules in less time than tuning PID controllers. However, performance and reliabity deficits have been found to exist with the Behavioural Cloning, attributable largely to the time variant nature of the dynamics due to the operating environment, and the pilot actions being poor for teaching. The final conclusion drawn here is that tuning PID modules remains superior to behavioural cloning for low-level helicopter automation.

Impact and interest:

Search Google Scholar™

Citation counts are sourced monthly from Scopus and Web of Science® citation databases.

These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

Full-text downloads:

88 since deposited on 22 Jun 2010
2 in the past twelve months

Full-text downloads displays the total number of times this work’s files (e.g., a PDF) have been downloaded from QUT ePrints as well as the number of downloads in the previous 365 days. The count includes downloads for all files if a work has more than one.

ID Code: 32824
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
ISBN: 0958758352
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2003 [please consult the authors]
Deposited On: 22 Jun 2010 23:06
Last Modified: 12 Sep 2014 07:36

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page