相关论文: Low Level Control of a Quadrotor with Deep Model-B…

Model-free Deep Reinforcement Learning (DRL) controllers have demonstrated promising results on various challenging non-linear control tasks. While a model-free DRL algorithm can solve unknown dynamics and high-dimensional problems, it…

Model Predictive Control (MPC) has become a popular framework in embedded control for high-performance autonomous systems. However, to achieve good control performance using MPC, an accurate dynamics model is key. To maintain real-time…

This thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system…

This study compares Deep Reinforcement Learning (DRL) and Model Predictive Control (MPC) for Adaptive Cruise Control (ACC) design in car-following scenarios. A first-order system is used as the Control-Oriented Model (COM) to approximate…

Reinforcement learning (RL) solves sequential decision-making problems via a trial-and-error process interacting with the environment. While RL achieves outstanding success in playing complex video games that allow huge trial-and-error,…

Controlling instabilities in complex dynamical systems is challenging in scientific and engineering applications. Deep reinforcement learning (DRL) has seen promising results for applications in different scientific applications. The…

Deep reinforcement learning (DRL) has shown remarkable success in simulation domains, yet its application in designing robot controllers remains limited, due to its single-task orientation and insufficient adaptability to environmental…

Deep Reinforcement Learning (DRL) techniques have received significant attention in control and decision-making algorithms. Most applications involve complex decision-making systems, justified by the algorithms' computational power and…

Recently, needs for unmanned aerial vehicles (UAVs) that are attachable to the wall have been highlighted. As one of the ways to address the need, researches on various tilting multirotors that can increase maneuverability has been…

We propose a Model-Based Reinforcement Learning (MBRL) algorithm named VF-MC-PILCO, specifically designed for application to mechanical systems where velocities cannot be directly measured. This circumstance, if not adequately considered,…

The dominant way to control a robot manipulator uses hand-crafted differential equations leveraging some form of inverse kinematics / dynamics. We propose a simple, versatile joint-level controller that dispenses with differential equations…

Traditional model-based reinforcement learning (RL) methods generate forward rollout traces using the learnt dynamics model to reduce interactions with the real environment. The recent model-based RL method considers the way to learn a…

Aerial robot solutions are becoming ubiquitous for an increasing number of tasks. Among the various types of aerial robots, blimps are very well suited to perform long-duration tasks while being energy efficient, relatively silent and safe.…

Achieving safe and precise landings for a swarm of drones poses a significant challenge, primarily attributed to conventional control and planning methods. This paper presents the implementation of multi-agent deep reinforcement learning…

Studies that broaden drone applications into complex tasks require a stable control framework. Recently, deep reinforcement learning (RL) algorithms have been exploited in many studies for robot control to accomplish complex tasks.…

Current control algorithms for aerial robots struggle with robustness in dynamic environments and adverse conditions. Model-based reinforcement learning (RL) has shown strong potential in handling these challenges while remaining…

We present fully autonomous source seeking onboard a highly constrained nano quadcopter, by contributing application-specific system and observation feature design to enable inference of a deep-RL policy onboard a nano quadcopter. Our…

In this paper, we study the use of robust model independent bounded extremum seeking (ES) feedback control to improve the robustness of deep reinforcement learning (DRL) controllers for a class of nonlinear time-varying systems. DRL has the…

Model-based reinforcement learning (MBRL) techniques have recently yielded promising results for real-world autonomous racing using high-dimensional observations. MBRL agents, such as Dreamer, solve long-horizon tasks by building a world…

Model Predictive Control (MPC)-based Reinforcement Learning (RL) offers a structured and interpretable alternative to Deep Neural Network (DNN)-based RL methods, with lower computational complexity and greater transparency. However,…