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This paper explores the method of achieving autonomous navigation of unmanned vehicles through Deep Reinforcement Learning (DRL). The focus is on using the Deep Deterministic Policy Gradient (DDPG) algorithm to address issues in…

This paper presents a deep learning approach to aid dead-reckoning (DR) navigation using a limited sensor suite. A Recurrent Neural Network (RNN) was developed to predict the relative horizontal velocities of an Autonomous Underwater…

In this work, we propose a learning based neural model that provides both the longitudinal and lateral control commands to simultaneously navigate multiple vehicles. The goal is to ensure that each vehicle reaches a desired target state…

Unmanned Surface Vehicles technology (USVs) is an exciting topic that essentially deploys an algorithm to safely and efficiently performs a mission. Although reinforcement learning is a well-known approach to modeling such a task,…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

Navigating through unstructured environments is a basic capability of intelligent creatures, and thus is of fundamental interest in the study and development of artificial intelligence. Long-range navigation is a complex cognitive task that…

Autonomous navigation in unstructured environments is essential for field and planetary robotics, where robots must efficiently reach goals while avoiding obstacles under uncertain conditions. Conventional algorithmic approaches often…

Deep reinforcement learning has emerged as a promising and powerful technique for automatically acquiring control policies that can process raw sensory inputs, such as images, and perform complex behaviors. However, extending deep RL to…

We employ deep reinforcement learning methods to investigate shortest-time navigation strategies for smart active Brownian particles (microagents), which self-propel through a rotating potential barrier in a static, viscous, fluid…

Autonomy is a key challenge for future space exploration endeavours. Deep Reinforcement Learning holds the promises for developing agents able to learn complex behaviours simply by interacting with their environment. This paper investigates…

Humans quickly solve tasks in novel systems with complex dynamics, without requiring much interaction. While deep reinforcement learning algorithms have achieved tremendous success in many complex tasks, these algorithms need a large number…

Quadrotors are agile. Unlike most other machines, they can traverse extremely complex environments at high speeds. To date, only expert human pilots have been able to fully exploit their capabilities. Autonomous operation with on-board…

This paper presents a novel approach for robot navigation in environments containing deformable obstacles. By integrating Learning from Demonstration (LfD) with Dynamical Systems (DS), we enable adaptive and efficient navigation in complex…

State-of-the-art motion planners cannot scale to a large number of systems. Motion planning for multiple agents is an NP (non-deterministic polynomial-time) hard problem, so the computation time increases exponentially with each addition of…

Energy-efficient mapless navigation is crucial for mobile robots as they explore unknown environments with limited on-board resources. Although the recent deep reinforcement learning (DRL) approaches have been successfully applied to…

Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…

Unmanned Aerial Vehicles (UAVs) are increasingly used in automated inspection, delivery, and navigation tasks that require reliable autonomy. This project develops a reinforcement learning (RL) approach to enable a single UAV to…

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…

Learning effective visuomotor policies for robots purely from data is challenging, but also appealing since a learning-based system should not require manual tuning or calibration. In the case of a robot operating in a real environment the…

With respect to biological findings underlying fly's physiology in the past decade, we present a directionally selective neural network, with a feed-forward structure and entirely low-level visual processing, so as to implement direction…