├── .gitmodules ├── LICENSE ├── README.md ├── copter_platform.png ├── experiment_evaluation ├── analyze_training_time.py ├── archive_training_results.sh ├── descend_trajectories_combined.gnuplot ├── extract_flights_from_rosbag_topics.py ├── extract_topics_from_rosbag.py ├── plot_agent_freq.gnuplot ├── plot_max_attitude.gnuplot ├── plot_topic_freq_from_flight.py ├── plot_topic_freqs.py ├── plot_vicon_flight_from_drone_state_estimate.gnuplot ├── read_training_observation_msg_from_rosbag.py ├── rewards.gnuplot ├── success_determination.py ├── success_determination_cascaded_pid.py ├── success_plots.gnuplot └── success_rates_sim │ ├── success_rates_baseline.dat │ ├── success_rates_rpm_0_8.dat │ ├── success_rates_rpm_1_2.dat │ └── success_rates_rpm_1_6.dat ├── init_workspaces.sh ├── requirements.txt ├── rl_landing.gif ├── rl_multi_rotor_landing_gcs ├── .catkin_workspace ├── other_files │ ├── copter_settings.uav │ ├── copter_settings_2024-02-19.uav │ ├── copter_settings_2024-02-22.uav │ ├── copter_settings_landing.uav │ ├── gcs_settings_for_copter.xml │ ├── kill_vicon.sh │ ├── librepilot_installation.txt │ ├── prepare_terminal_window.sh │ ├── record_rosbag.bash │ └── setup.bash └── src │ ├── LibrePilot │ ├── mav_comm │ ├── moving_platform_description │ ├── moving_platform_gazebo │ ├── pid │ ├── rotors_simulator │ └── training_q_learning │ ├── CMakeLists.txt │ ├── launch │ ├── audio_feedback.launch │ ├── launch_audio_feedback.sh │ ├── launch_vicon_action_to_uavpose.sh │ ├── launch_vicon_bridge.sh │ ├── launch_vicon_compute_relative_information.sh │ ├── launch_vicon_environment_in_virtual_screens.sh │ ├── launch_vicon_filter_platform_data.sh │ ├── launch_vicon_interface.sh │ ├── launch_vicon_observation_generator.sh │ ├── launch_vicon_publish_stability_axes.sh │ ├── launch_vicon_publish_state_estimate_copter_frame.sh │ ├── launch_vicon_test_model_2D.sh │ ├── launch_vicon_uav_pose_twist_from_state_estimate.sh │ ├── vicon_action_to_uavpose.launch │ ├── vicon_all_cascaded_pid_controllers.launch │ ├── vicon_cascaded_pid_controller.launch │ ├── vicon_cascaded_pid_interface.launch │ ├── vicon_compute_observation.launch │ ├── vicon_compute_relative_information.launch │ ├── vicon_debug.launch │ ├── vicon_filter_platform_data.launch │ ├── vicon_interface.launch │ ├── vicon_publish_mp_setpoints.launch │ ├── vicon_publish_stability_axes.launch │ ├── vicon_publish_state_estimate_copter_frame.launch │ ├── vicon_test_model_2D.launch │ └── vicon_uav_pose_twist_from_state_estimate.launch │ ├── msg │ ├── Action.msg │ ├── LandingSimulationObjectState.msg │ ├── ObservationRelativeState.msg │ ├── TwistModified.msg │ └── TwistStampedModified.msg │ ├── package.xml │ ├── scripts │ ├── audio_feedback.py │ ├── vicon_action_to_uavpose.py │ ├── vicon_cascaded_pid_controller.py │ ├── vicon_cascaded_pid_interface.py │ ├── vicon_compute_relative_state_moving_platform_drone.py │ ├── vicon_debug.py │ ├── vicon_filter_platform_data.py │ ├── vicon_interface.py │ ├── vicon_observation_generator.py │ ├── vicon_publish_stability_axes.py │ ├── vicon_publish_state_estimate_copter_frame.py │ ├── vicon_test_model_2D.py │ └── vicon_uav_pose_twist_from_state_estimate.py │ ├── setup.py │ ├── src │ └── training_q_learning │ │ ├── __init__.py │ │ ├── custom_q_learning.py │ │ ├── parameters.py │ │ ├── utils.py │ │ ├── utils_multiresolution.py │ │ ├── utils_q_learning.py │ │ ├── vicon_env.py │ │ └── vicon_object.py │ └── worlds │ ├── arena_RAL.world │ ├── basic.world │ ├── empty.world │ └── yosemite.world ├── rl_multi_rotor_landing_sim ├── .catkin_workspace ├── other_files │ ├── activate_training_venv.sh │ ├── check_node_status.py │ ├── check_node_status.sh │ ├── clear_all_sims.sh │ ├── compute_box_inertia_tensor.py │ ├── compute_training_parameters.py │ ├── execute_agent_evaluation_for_all_exps.py │ ├── execute_agent_evaluation_for_one_exp.py │ ├── execute_training_curriculum_for_one_sim_one_exp.py │ ├── kill_sim.sh │ ├── prepare_terminal_window.sh │ ├── publish_vmp_x.sh │ ├── publish_vmp_y.sh │ └── setup.bash └── src │ ├── mav_comm │ ├── moving_platform_description │ ├── moving_platform_gazebo │ ├── pid │ ├── rotors_simulator │ └── training_q_learning │ ├── CMakeLists.txt │ ├── launch │ ├── all_cascaded_pid_controllers.launch │ ├── analysis_node_2D.launch │ ├── cascaded_pid_controller.launch │ ├── cascaded_pid_interface.launch │ ├── compute_observation.launch │ ├── compute_relative_information.launch │ ├── debug_node.launch │ ├── drone_only_gcshitl.launch │ ├── landing_simulation.launch │ ├── launch_action_interface.sh │ ├── launch_analysis_node_2D.sh │ ├── launch_cascaded_pid_environment_in_virtual_screens.sh │ ├── launch_cascaded_pid_interface.sh │ ├── launch_compute_relative_information.sh │ ├── launch_environment_in_virtual_screens.sh │ ├── launch_landing_simulation.sh │ ├── launch_observation_generator.sh │ ├── launch_publish_stability_axes.sh │ ├── launch_test_model_2D.sh │ ├── launch_training.sh │ ├── publish_stability_axes.launch │ ├── test_cascaded_pid.launch │ ├── test_model_2D.launch │ ├── training.launch │ ├── training_ablation_study_all_states.launch │ └── training_action_interface.launch │ ├── msg │ ├── Action.msg │ ├── LandingSimulationObjectState.msg │ ├── ObservationRelativeState.msg │ ├── TwistModified.msg │ └── TwistStampedModified.msg │ ├── package.xml │ ├── scripts │ ├── analysis_node_2D.py │ ├── cascaded_pid_controller.py │ ├── cascaded_pid_interface.py │ ├── compute_relative_state_moving_platform_drone.py │ ├── copy_parameters.py │ ├── debug_node.py │ ├── log_topic_freqs.py │ ├── observation_generator.py │ ├── publish_stability_axes.py │ ├── test_cascaded_pid.py │ ├── test_model_2D.py │ ├── training.py │ ├── training_ablation_study_all_states.py │ └── training_action_interface.py │ ├── setup.py │ ├── src │ └── training_q_learning │ │ ├── __init__.py │ │ ├── custom_q_learning.py │ │ ├── landing_simulation_env.py │ │ ├── landing_simulation_object.py │ │ ├── parameters.py │ │ ├── utils.py │ │ ├── utils_multiresolution.py │ │ └── utils_q_learning.py │ ├── srv │ └── ResetRandomSeed.srv │ ├── training_results │ └── dummy.txt │ └── worlds │ ├── arena_RAL.world │ ├── basic.world │ ├── empty.world │ └── yosemite.world ├── rl_multi_rotor_landing_uav ├── .catkin_workspace ├── other_files │ ├── launch_bridges_in_virtual_screens.sh │ ├── launch_ros_bridge.sh │ ├── launch_ros_core.sh │ └── launch_telemetry_bridge.sh └── src │ └── LibrePilot ├── ros_packages_list.txt └── src ├── moving_platform_description ├── CMakeLists.txt ├── config │ └── joints.yaml ├── launch │ ├── empty_world.launch │ ├── moving_platform.launch │ └── moving_platform_without_env.launch ├── package.xml ├── scripts │ ├── command_moving_platform_trajectories.py │ └── world_base_link_transform_publisher.py ├── src │ ├── parser.cpp │ └── state_publisher.cpp └── urdf │ ├── moving_platform.sdf │ ├── moving_platform.urdf │ └── plugin_sensors.xacro └── moving_platform_gazebo └── launch 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