RotorS Gym Experimental Framework

RotorS Gym is a framework dedicated for robotics researchers for designing reinforcement learning-based controllers. It combines the following toolkits:

• OpenAI Gym
• gym-gazebo
• RotorS MAV

Requirements

• Ubuntu 16.04 LTS
• ROS Kinetic
• gym-gazebo
• pytorch 1.0.1

Instruction

Launch Gazebo

With GUI

roslaunch rotors_gazebo mav.launch mav_name:=firefly world_name:=basic

Headless:

roslaunch rotors_gazebo mav.launch mav_name:=firefly world_name:=basic gui:=false headless:=true

Launch Model

Train the agents:

python train.py

Play the demo:

python demo.py

Publication

• Deep Reinforcement Learning-based Continuous Control for Multicopter Systems.

References

• OpenAI Gym
• gym-gazebo
• RotorS MAV
• TianhongDai