相关论文: Learning a Controller Fusion Network by Online Tra…

Unmanned aerial vehicles (UAVs) are now beginning to be deployed for enhancing the network performance and coverage in wireless communication. However, due to the limitation of their on-board power and flight time, it is challenging to…

We present a control approach for autonomous vehicles based on deep reinforcement learning. A neural network agent is trained to map its estimated state to acceleration and steering commands given the objective of reaching a specific target…

Convolutional Neural Networks (CNNs) are successfully used for the important automotive visual perception tasks including object recognition, motion and depth estimation, visual SLAM, etc. However, these tasks are typically independently…

A novel framework is proposed for the trajectory design of multiple unmanned aerial vehicles (UAVs) based on the prediction of users' mobility information. The problem of joint trajectory design and power control is formulated for…

Control of complex systems involves both system identification and controller design. Deep neural networks have proven to be successful in many identification tasks, however, from model-based control perspective, these networks are…

A new federated learning (FL) framework enabled by large-scale wireless connectivity is proposed for designing the autonomous controller of connected and autonomous vehicles (CAVs). In this framework, the learning models used by the…

We describe an approach to learning optimal control policies for a large, linear particle accelerator using deep reinforcement learning coupled with a high-fidelity physics engine. The framework consists of an AI controller that uses deep…

In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…

In this work, we study vision-based end-to-end reinforcement learning on vehicle control problems, such as lane following and collision avoidance. Our controller policy is able to control a small-scale robot to follow the right-hand lane of…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

Autonomous systems, such as self-driving cars and drones, have made significant strides in recent years by leveraging visual inputs and machine learning for decision-making and control. Despite their impressive performance, these…

Fully autonomous driving has been widely studied and is becoming increasingly feasible. However, such autonomous driving has yet to be achieved on public roads, because of various uncertainties due to surrounding human drivers and…

Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectories for multiple UAVs while satisfying requirements of connectivity with ground base stations (GBSs) is a…

Contemporary autopilot systems for unmanned aerial vehicles (UAVs) are far more limited in their flight envelope as compared to experienced human pilots, thereby restricting the conditions UAVs can operate in and the types of missions they…

Road congestion induces significant costs across the world, and road network disturbances, such as traffic accidents, can cause highly congested traffic patterns. If a planner had control over the routing of all vehicles in the network,…

This paper introduces a machine learning based system for controlling a robotic manipulator with visual perception only. The capability to autonomously learn robot controllers solely from raw-pixel images and without any prior knowledge of…

Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…

Deep convolutional neural networks (CNNs) have been shown to perform extremely well at a variety of tasks including subtasks of autonomous driving such as image segmentation and object classification. However, networks designed for these…

In this paper, we propose a novel framework for approximating the explicit MPC law for linear parameter-varying systems using supervised learning. In contrast to most existing approaches, we not only learn the control policy, but also a…

To address the computational challenges of Model Predictive Control (MPC), recent research has studied using imitation learning to approximate MPC with a computationally efficient Deep Neural Network (DNN). However, this introduces a common…