https://github.com/eczy/rl-drone-coverage

This is an implementation of the paper Cooperative and Distributed Reinforcement Learning of Drones for Field Coverage by Huy Xuan Pham, et al. with an extension which measures the robustness of their proposed solution with respect to minor environmental perturbations.
https://github.com/eczy/rl-drone-coverage

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This is an implementation of the paper Cooperative and Distributed Reinforcement Learning of Drones for Field Coverage by Huy Xuan Pham, et al. with an extension which measures the robustness of their proposed solution with respect to minor environmental perturbations.

• Host: GitHub
• URL: https://github.com/eczy/rl-drone-coverage
• Owner: eczy
• Created: 2020-05-01T01:47:34.000Z (over 4 years ago)
• Default Branch: master
• Last Pushed: 2020-06-29T00:32:00.000Z (over 4 years ago)
• Last Synced: 2023-04-24T06:50:42.378Z (over 1 year ago)
• Language: Python
• Homepage:
• Size: 536 KB
• Stars: 10
• Watchers: 2
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
This is an implementation of the paper *Cooperative and Distributed Reinforcement Learning of Drones for Field Coverage* by Huy Xuan Pham, et al. with an extension which measures the robustness of their proposed solution with respect to minor environmental perturbations.

# Experiments:

## 1. Static FOV and Static FOI (Baseline)

`python main.py foi-0.csv output_1 --n_drones 2 --env_dim 7 7 4 --seed 0`

![](static/episode_steps_1.png)

## 2. FOI Translation

`python main.py foi-0.csv output_2 --n_drones 2 --env_dim 7 7 4 --seed 0 --perturb_foi foi-1.csv 250`

![](static/episode_steps_2.png)

## 3. FOV Widening

`python main.py foi-0.csv output_3 --n_drones 2 --env_dim 7 7 4 --seed 0 --perturb_fov 45 250`

![](static/episode_steps_3.png)

## 4. FOI Widening and New FOI (1)

`python main.py foi-0.csv output_4 --n_drones 2 --env_dim 7 7 4 --seed 0 --perturb_foi foi-2.csv 250 --perturb_fov 45 250`

![](static/episode_steps_4.png)

## 5. FOI Widening and New FOI (2)

`python main.py foi-0.csv output_5 --n_drones 2 --env_dim 7 7 4 --seed 0 --perturb_foi foi-3.csv 250 --perturb_fov 45 250`

![](static/episode_steps_5.png)

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[Full Writeup](static/writeup.pdf)