公开(公告)号：US11693373B2

公开(公告)日：2023-07-04

申请号：US16709775

申请日：2019-12-10

Applicant: California Institute of Technology

Inventor： Guanya Shi ,  Xichen Shi ,  Michael O'Connell ,  Animashree Anandkumar ,  Yisong Yue ,  Soon-Jo Chung

IPC: G05B13/02 ,  G06N3/04 ,  G06N3/084

CPC classification number: G05B13/027 ,  G06N3/04 ,  G06N3/084

Abstract: Systems and methods for learning based control in accordance with embodiments of the invention are illustrated. One embodiment includes a method for training an adaptive controller. The method includes steps for receiving a set of training data that includes several training samples, wherein each training sample includes a state and a true uncertain effect value. The method includes steps for computing an uncertain effect value based on the state, computing a set of one or more losses based on the true uncertain effect value and the computed uncertain effect value, and updating the adaptive controller based on the computed set of losses.

公开(公告)号：US20200183339A1

公开(公告)日：2020-06-11

申请号：US16709775

申请日：2019-12-10

Applicant: California Institute of Technology

Inventor： Guanya Shi ,  Xichen Shi ,  Michael O'Connell ,  Animashree Anandkumar ,  Yisong Yue ,  Soon-Jo Chung

IPC: G05B13/02 ,  G06N3/08 ,  G06N3/04

Abstract: Systems and methods for learning based control in accordance with embodiments of the invention are illustrated. One embodiment includes a method for training an adaptive controller. The method includes steps for receiving a set of training data that includes several training samples, wherein each training sample includes a state and a true uncertain effect value. The method includes steps for computing an uncertain effect value based on the state, computing a set of one or more losses based on the true uncertain effect value and the computed uncertain effect value, and updating the adaptive controller based on the computed set of losses.

公开(公告)号：US20200031465A1

公开(公告)日：2020-01-30

申请号：US16523889

申请日：2019-07-26

Applicant: California Institute of Technology ,  Imperial College Innovations Limited

Inventor： Soon-Jo Chung ,  Aditya Paranjape ,  Kyunam Kim

IPC: B64C39/02 ,  A01M29/06 ,  B64F1/36

Abstract: Systems and methods for autonomously herding birds in accordance with embodiments of the invention are illustrated. One embodiment includes an autonomous flock herding system, including a bird location sensor, a drone; and a control system, including a processor, and a memory, the memory containing a flock herding application, where the application directs the processor to obtain bird position data from the at least one bird location sensor, where the bird position data describes the location of birds in a flock of birds, determine if the flock of birds will enter a protected zone, generate a set of waypoints using a flock dynamics model, instruct the unmanned aerial vehicle to navigate to at least one waypoint in the set of waypoints such that the flock of birds will, in response to the presence of the unmanned aerial vehicle at the at least one waypoint, change trajectory away from the protected zone.