相关论文: DOB-Net: Actively Rejecting Unknown Excessive Time…
Though deep neural network has hit a huge success in recent studies and applica- tions, it still remains vulnerable to adversarial perturbations which are imperceptible to humans. To address this problem, we propose a novel network called…
Autonomous navigation of mobile robots is an essential aspect in use cases such as delivery, assistance or logistics. Although traditional planning methods are well integrated into existing navigation systems, they struggle in highly…
Inverter-based volt-var control is studied in this paper. One key issue in DRL-based approaches is the limited measurement deployment in active distribution networks, which leads to problems of a partially observable state and unknown…
Robots learning from observations in the real world using inverse reinforcement learning (IRL) may encounter objects or agents in the environment, other than the expert, that cause nuisance observations during the demonstration. These…
Deep reinforcement learning (DRL) provides a promising way for learning navigation in complex autonomous driving scenarios. However, identifying the subtle cues that can indicate drastically different outcomes remains an open problem with…
A key component in autonomous driving is the ability of the self-driving car to understand, track and predict the dynamics of the surrounding environment. Although there is significant work in the area of object detection, tracking and…
This paper presents an approach to trajectory-centric learning control based on contraction metrics and disturbance estimation for nonlinear systems subject to matched uncertainties. The approach uses deep neural networks to learn uncertain…
Deep Reinforcement Learning (DRL) is a subfield of machine learning for training autonomous agents that take sequential actions across complex environments. Despite its significant performance in well-known environments, it remains…
Adaptive methods are popular within the control literature due to the flexibility and forgiveness they offer in the area of modelling. Neural network adaptive control is favorable specifically for the powerful nature of the machine learning…
This paper proposes a control strategy consisting of a robust controller and an Echo State Network (ESN) based control law for stabilizing a class of uncertain nonlinear discrete-time systems subject to persistent disturbances. Firstly, the…
Regularization plays a pivotal role in integrating prior information into inverse problems. While many deep learning methods have been proposed to solve inverse problems, determining where to apply regularization remains a crucial…
In recent years, a variety of tasks have been accomplished by deep reinforcement learning (DRL). However, when applying DRL to tasks in a real-world environment, designing an appropriate reward is difficult. Rewards obtained via actual…
Empowered by expressive function approximators such as neural networks, deep reinforcement learning (DRL) achieves tremendous empirical successes. However, learning expressive function approximators requires collecting a large dataset…
This article presents the design of a robust observer based on the discrete-time formulation of Uncertainty and Disturbance Estimator (UDE), a well-known robust control technique, for the purpose of controlling robot manipulators. The…
This thesis is concerned with the rejection of time-varying disturbances in linear model predictive control of discrete-time systems. In the literature, disturbances are widely rejected by using velocity models, disturbance model with…
Reinforcement learning (RL) has attracted increasing interest for adaptive traffic signal control due to its model-free ability to learn control policies directly from interaction with the traffic environment. However, several challenges…
Distributionally robust offline reinforcement learning (RL) aims to find a policy that performs the best under the worst environment within an uncertainty set using an offline dataset collected from a nominal model. While recent advances in…
The Internet of Things (IoT) is reshaping modern society by allowing a decent number of RF devices to connect and share information through RF channels. However, such an open nature also brings obstacles to surveillance. For alleviation, a…
Self-navigation, referred as the capability of automatically reaching the goal while avoiding collisions with obstacles, is a fundamental skill required for mobile robots. Recently, deep reinforcement learning (DRL) has shown great…
Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians. This work proposes using deep reinforcement (RL) learning as a framework to model the complex interactions and cooperation with nearby,…