Ignacio Gil

Image-Based Visual Servoing Controller for Multirotor Aerial Robots Using Deep Reinforcement Learning

In this paper, we propose a novel Image-Based Visual Servoing (IBVS) controller for multirotor aerial robots based on a recent deep reinforcement learning algorithm named Deep Deterministic Policy Gradients (DDPG). The proposed RL-IBVS controller is successfully trained in a Gazebo-based simulation…