Related papers: Decentralized Real-Time Planning for Multi-UAV Coo…
Multi-agent reinforcement learning was performed in this study for indoor path planning of two unmanned aerial vehicles (UAVs). Each UAV performed the task of moving as fast as possible from a randomly paired initial position to a goal…
While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…
Imitation Learning is a promising paradigm for learning complex robot manipulation skills by reproducing behavior from human demonstrations. However, manipulation tasks often contain bottleneck regions that require a sequence of precise…
This paper aims to improve the path quality and computational efficiency of kinodynamic planners used for vehicular systems. It proposes a learning framework for identifying promising controls during the expansion process of sampling-based…
Visual imitation learning is effective for robots to learn versatile tasks. However, many existing methods rely on behavior cloning with supervised historical trajectories, limiting their 3D spatial and 4D spatiotemporal awareness.…
This paper aims to improve the path quality and computational efficiency of sampling-based kinodynamic planners for vehicular navigation. It proposes a learning framework for identifying promising controls during the expansion process of…
While modern policy optimization methods can do complex manipulation from sensory data, they struggle on problems with extended time horizons and multiple sub-goals. On the other hand, task and motion planning (TAMP) methods scale to long…
Recently, the unmanned aerial vehicles (UAVs) have been widely used in real-time sensing applications over cellular networks, which sense the conditions of the tasks and transmit the real-time sensory data to the base station (BS). The…
Learning visuomotor policy for multi-task robotic manipulation has been a long-standing challenge for the robotics community. The difficulty lies in the diversity of action space: typically, a goal can be accomplished in multiple ways,…
This paper presents a learning-augmented trajectory planning framework for cooperative unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) handover missions. While centralized trajectory optimization ensures dynamic feasibility…
Recent innovations in autonomous drones have facilitated time-optimal flight in single-drone configurations, and enhanced maneuverability in multi-drone systems by applying optimal control and learning-based methods. However, few studies…
Pursuit-evasion is the problem of capturing mobile targets with one or more pursuers. We use deep reinforcement learning for pursuing an omni-directional target with multiple, homogeneous agents that are subject to unicycle kinematic…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…
We introduce Air Learning, an open-source simulator, and a gym environment for deep reinforcement learning research on resource-constrained aerial robots. Equipped with domain randomization, Air Learning exposes a UAV agent to a diverse set…
Synthesizing planning and control policies in robotics is a fundamental task, further complicated by factors such as complex logic specifications and high-dimensional robot dynamics. This paper presents a novel reinforcement learning…
Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…
Robot control problems are often structured with a policy function that maps state values into control values, but in many dynamic problems the observed state can have a difficult to characterize relationship with useful policy actions. In…
Autonomous Unmanned Aerial Vehicle (UAV) swarms are increasingly used as rapidly deployable aerial relays and sensing platforms, yet practical deployments must operate under partial observability and intermittent peer-to-peer links. We…
We consider a multi-agent reinforcement learning problem where each agent seeks to maximize a shared reward while interacting with other agents, and they may or may not be able to communicate. Typically the agents do not have access to…
Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectory in multi-UAV non-cooperative scenarios while collecting data from distributed Internet of Things (IoT) nodes…