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Helicopters have highly stochastic, nonlinear, dynamics, and autonomous helicopter flight is widely regarded to be a challenging control problem. As helicopters are highly unstable at low speeds, it is particularly difficult to design controllers for low speed aerobatic maneuvers. In this paper, we describe a successful application of reinforcement learning(More)
System behavior, in a multi-agent system, can be difficult to predict and often, unexpected system behaviors will occur which lead to poor system performance. These unexpected system behaviors result from unforeseen group actions of agent groups, and agent-group behavior that is not directly coded by the agent designers. This paper presents a mathematical(More)
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