Related papers: Decentralized Real-Time Planning for Multi-UAV Coo…
The objective of meta-learning is to exploit the knowledge obtained from observed tasks to improve adaptation to unseen tasks. As such, meta-learners are able to generalize better when they are trained with a larger number of observed tasks…
This paper presents Deep-PANTHER, a learning-based perception-aware trajectory planner for unmanned aerial vehicles (UAVs) in dynamic environments. Given the current state of the UAV, and the predicted trajectory and size of the obstacle,…
In this article, a novel time-coordination algorithm based on event-triggered communications is proposed to achieve coordinated path-following of UAVs. To be specific, in the approach adopted a UAV transmits its progression information over…
A learning dialogue agent can infer its behaviour from interactions with the users. These interactions can be taken from either human-to-human or human-machine conversations. However, human interactions are scarce and costly, making…
Deep imitation learning enables robots to learn from expert demonstrations to perform tasks such as lane following or obstacle avoidance. However, in the traditional imitation learning framework, one model only learns one task, and thus it…
Imitation learning holds the promise to address challenging robotic tasks such as autonomous navigation. It however requires a human supervisor to oversee the training process and send correct control commands to robots without feedback,…
Decentralized multi-robot motion planning requires each robot to generate collision-free trajectories from local observations, without global sensing or reliable communication. However, most existing planners, whether classical or…
As UAV popularity soars, so does the mission planning associated with it. The classical approaches suffer from the triple problems of decoupled of task assignment and path planning, poor real-time performance and limited adaptability.…
Unmanned aerial vehicles (UAV) or drones play many roles in a modern smart city such as the delivery of goods, mapping real-time road traffic and monitoring pollution. The ability of drones to perform these functions often requires the…
Interactive imitation learning makes an agent's control policy robust by stepwise supervisions from an expert. The recent algorithms mostly employ expert-agent switching systems to reduce the expert's burden by limitedly selecting the…
In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…
Recent technological progress in the development of Unmanned Aerial Vehicles (UAVs) together with decreasing acquisition costs make the application of drone fleets attractive for a wide variety of tasks. In agriculture, disaster management,…
The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…
An unmanned aerial vehicle (UAV)-aided mobile edge computing (MEC) framework is proposed, where several UAVs having different trajectories fly over the target area and support the user equipments (UEs) on the ground. We aim to jointly…
We propose a model-free deep reinforcement learning method that leverages a small amount of demonstration data to assist a reinforcement learning agent. We apply this approach to robotic manipulation tasks and train end-to-end visuomotor…
Multi-Robot System (MRS) has garnered widespread research interest and fostered tremendous interesting applications, especially in cooperative control fields. Yet little light has been shed on the compound ability of formation, monitoring…
Training vision-based manipulation policies that are robust across diverse visual environments remains an important and unresolved challenge in robot learning. Current approaches often sidestep the problem by relying on invariant…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
We study representation learning for efficient imitation learning over linear systems. In particular, we consider a setting where learning is split into two phases: (a) a pre-training step where a shared $k$-dimensional representation is…
This paper addresses the problem of distributed coordination control of spacecraft formation. It is assumed that the agents measure relative positions of each other with a non-zero, unknown constant sensor bias. The translational dynamics…