Deep Drone Racing: From Simulation to Reality with Domain Randomization

Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of autonomous, vision-based drone racing in dynamic environments. A racing drone must traverse a track with possibly moving gates at high speed. We enable this functionality by combining the performance of a state-of-the-art planning and control system with the perceptual awareness of a convolutional neural network (CNN). The resulting modular system is both platform- and domain-independent: it is trained in simulation and deployed on a physical quadrotor without any fine-tuning. The abundance of simulated data, generated via domain randomization, makes our system robust to changes of illumination and gate appearance. To the best of our knowledge, our approach is the first to demonstrate zero-shot sim-to-real transfer on the task of agile drone flight. We extensively test the precision and robustness of our system, both in simulation and on a physical platform, and show significant improvements over the state of the art.Comment: Accepted as a Regular Paper to the IEEE Transactions on Robotics Journal. arXiv admin note: substantial text overlap with arXiv:1806.0854

Regularized Evolutionary Algorithm for Dynamic Neural Topology Search

Designing neural networks for object recognition requires considerable architecture engineering. As a remedy, neuro-evolutionary network architecture search, which automatically searches for optimal network architectures using evolutionary algorithms, has recently become very popular. Although very effective, evolutionary algorithms rely heavily on having a large population of individuals (i.e., network architectures) and is therefore memory expensive. In this work, we propose a Regularized Evolutionary Algorithm with low memory footprint to evolve a dynamic image classifier. In details, we introduce novel custom operators that regularize the evolutionary process of a micro-population of 10 individuals. We conduct experiments on three different digits datasets (MNIST, USPS, SVHN) and show that our evolutionary method obtains competitive results with the current state-of-the-art

Surface profile prediction and analysis applied to turning process

An approach for the prediction of surface profile in turning process using Radial Basis Function (RBF) neural networks is presented. The input parameters of the RBF networks are cutting speed, depth of cut and feed rate. The output parameters are Fast Fourier Transform (FFT) vector of surface profile for the prediction of surface profile. The RBF networks are trained with adaptive optimal training parameters related to cutting parameters and predict surface profile using the corresponding optimal network topology for each new cutting condition. A very good performance of surface profile prediction, in terms of agreement with experimental data, was achieved with high accuracy, low cost and high speed. It is found that the RBF networks have the advantage over Back Propagation (BP) neural networks. Furthermore, a new group of training and testing data were also used to analyse the influence of tool wear and chip formation on prediction accuracy using RBF neural networks

Measurements, Models, Systems and Design

531 s.