相关论文: Towards Monocular Vision based Obstacle Avoidance …

Navigating unknown environments with a single RGB camera is challenging, as the lack of depth information prevents reliable collision-checking. While some methods use estimated depth to build collision maps, we found that depth estimates…

Navigation of mobile robots within crowded environments is an essential task in various use cases, such as delivery, health care, or logistics. Deep Reinforcement Learning (DRL) emerged as an alternative method to replace overly…

Reliable obstacle avoidance in industrial settings demands 3D scene understanding, but widely used 2D LiDAR sensors perceive only a single horizontal slice of the environment, missing critical obstacles above or below the scan plane. We…

Collision-free motion is essential for mobile robots. Most approaches to collision-free and efficient navigation with wheeled robots require parameter tuning by experts to obtain good navigation behavior. This study investigates the…

In this article, we explore the feasibility of applying proximal policy optimization, a state-of-the-art deep reinforcement learning algorithm for continuous control tasks, on the dual-objective problem of controlling an underactuated…

This study proposes a novel approach for dynamic load balancing in Software-Defined Networks (SDNs) using a Transformer-based Deep Q-Network (DQN). Traditional load balancing mechanisms, such as Round Robin (RR) and Weighted Round Robin…

The deep neural network (DNN) models for object detection using camera images are widely adopted in autonomous vehicles. However, DNN models are shown to be susceptible to adversarial image perturbations. In the existing methods of…

The variable and unpredictable load demands in hybrid agricultural tractors make it difficult to design optimal rule-based energy management strategies, motivating the use of adaptive, learning-based control. However, existing approaches…

There is increasing interest in data-driven approaches for recommending optimal treatment strategies in many chronic disease management and critical care applications. Reinforcement learning methods are well-suited to this sequential…

Obstacle avoidance between polytopes is a challenging topic for optimal control and optimization-based trajectory planning problems. Existing work either solves this problem through mixed-integer optimization, relying on simplification of…

Deep learning has become an increasingly common technique for various control problems, such as robotic arm manipulation, robot navigation, and autonomous vehicles. However, the downside of using deep neural networks to learn control…

Navigating urban environments represents a complex task for automated vehicles. They must reach their goal safely and efficiently while considering a multitude of traffic participants. We propose a modular decision making algorithm 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…

Reinforcement Learning (RL) has proven largely effective in obtaining stable locomotion gaits for legged robots. However, designing control algorithms which can robustly navigate unseen environments with obstacles remains an ongoing problem…

A novel approach is proposed for monocular obstacle detection, which relies on self-supervised learning to discriminate everything above the horizon line from everything below. Obstacles on the path of a robot that keeps moving at the same…

Unforeseen events are frequent in the real-world environments where robots are expected to assist, raising the need for fast replanning of the policy in execution to guarantee the system and environment safety. Inspired by human behavioural…

State-of-the-art convolutional neural networks excel in machine learning tasks such as face recognition, and object classification but suffer significantly when adversarial attacks are present. It is crucial that machine critical systems,…

In this study, we present two distinct approaches within the realm of Deep Reinforcement Learning (Deep-RL) aimed at enhancing mapless navigation for a ground-based mobile robot. The research methodology primarily involves a comparative…

This paper addresses the autonomous robot navigation problem in a priori unknown n-dimensional environments containing disjoint convex obstacles of arbitrary shapes and sizes, with pairwise distances strictly greater than the robot's…

Link Adaptation (LA) that dynamically adjusts the Modulation and Coding Schemes (MCS) to accommodate time-varying channels is crucial and challenging in cellular networks. Deep reinforcement learning (DRL)-based LA that learns to make…