相关论文: Reinforcement Learning and Deep Learning based Lat…

Reference tracking systems involve a plant that is stabilized by a local feedback controller and a command center that indicates the reference set-point the plant should follow. Typically, these systems are subject to limitations such as…

Perception components in autonomous systems are often developed and optimized independently of downstream decision-making and control components, relying on established performance metrics like accuracy, precision, and recall. Traditional…

Autonomous driving in urban crowds at unregulated intersections is challenging, where dynamic occlusions and uncertain behaviors of other vehicles should be carefully considered. Traditional methods are heuristic and based on…

As the demand for autonomous driving increases, it is paramount to ensure safety. Early accident prediction using deep learning methods for driving safety has recently gained much attention. In this task, early accident prediction and a…

This work examines the role of reinforcement learning in reducing the severity of on-road collisions by controlling velocity and steering in situations in which contact is imminent. We construct a model, given camera images as input, that…

Providing an efficient strategy to navigate safely through unsignaled intersections is a difficult task that requires determining the intent of other drivers. We explore the effectiveness of Deep Reinforcement Learning to handle…

Reinforcement learning (RL) has become a promising approach to developing controllers for quadrupedal robots. Conventionally, an RL design for locomotion follows a position-based paradigm, wherein an RL policy outputs target joint positions…

Recent advances in combining deep learning and Reinforcement Learning have shown a promising path for designing new control agents that can learn optimal policies for challenging control tasks. These new methods address the main limitations…

Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…

Combination of machine learning (for generating machine intelligence), computer vision (for better environment perception), and robotic systems (for controlled environment interaction) motivates this work toward proposing a vision-based…

The advances in deep reinforcement learning recently revived interest in data-driven learning based approaches to navigation. In this paper we propose to learn viewpoint invariant and target invariant visual servoing for local mobile robot…

Event-triggered control (ETC) methods can achieve high-performance control with a significantly lower number of samples compared to usual, time-triggered methods. These frameworks are often based on a mathematical model of the system and…

Developing an autonomous vehicle control strategy for signalised intersections (SI) is one of the challenging tasks due to its inherently complex decision-making process. This study proposes a Deep Reinforcement Learning (DRL) based…

Current and future high-contrast imaging instruments require extreme Adaptive Optics (XAO) systems to reach contrasts necessary to directly image exoplanets. Telescope vibrations and the temporal error induced by the latency of the control…

This paper investigates a hybrid solution which combines deep reinforcement learning (RL) and classical trajectory planning for the following in front application. Here, an autonomous robot aims to stay ahead of a person as the person…

Uncertainty in decision-making is crucial in the machine learning model used for a safety-critical system that operates in the real world. Therefore, it is important to handle uncertainty in a graceful manner for the safe operation of the…

Autonomous cars are well known for being vulnerable to adversarial attacks that can compromise the safety of the car and pose danger to other road users. To effectively defend against adversaries, it is required to not only test autonomous…

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…

This study presents an Actor-Critic reinforcement learning Compensated Model Predictive Controller (AC2MPC) designed for high-speed, off-road autonomous driving on deformable terrains. Addressing the difficulty of modeling unknown…

Reinforcement learning suffers from limitations in real practices primarily due to the number of required interactions with virtual environments. It results in a challenging problem because we are implausible to obtain a local optimal…