A computer implemented method includes receiving data indicative of one or more experience tuples each comprising a first observation including a first location of an unmanned aerial vehicle, UAV, a first flight action performed by the UAV in dependence on the first observation, a reward associated with the performance of the first flight action, and a second observation including a second location of the UAV following the performance of the first action. For each of the one or more experience tuples, the method includes, at a computing system: processing the first observation, using a value estimator with current parameter values, to determine a first estimated return for the first flight action following the first observation; processing the second observation, using a target value estimator with an identical architecture to the value estimator, to determine a set of candidate estimated returns, each of the set of candidate estimated returns corresponding to a respective one of a set of candidate second flight actions following the second observation; determining a greatest of the determined candidate estimated returns; determining a terminal reward associated with a triggering of a failure condition corresponding to a failure of a physical component of the UAV following the UAV visiting the second location of the UAV; determining, using the determined terminal reward and the greatest candidate estimated return, a second estimated return for the first flight action following the first observation, accounting for an intervention by an adversarial stopping agent arranged to trigger the failure condition when predetermined stopping criteria are satisfied; and updating the current parameter values of the value estimator in dependence upon a difference between the first estimated return and the second estimated return. After being sequentially updated in accordance with each of the one or more experience tuples, the current parameter values of the value estimator are trained parameter values.
FAULT-TOLERANT CONTROL SYSTEM AND METHOD
2021-08-26
Patent
Electronic Resource
English
Springer Verlag | 2024
|Fault Diagnostics and Fault Tolerant Control
Online Contents | 1998
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