相关论文: A Predictive Deep Learning Approach to Output Regu…

Pursuit-evasion is the problem of capturing mobile targets with one or more pursuers. We use deep reinforcement learning for pursuing an omni-directional target with multiple, homogeneous agents that are subject to unicycle kinematic…

This work presents an online learning-based control method for improved trajectory tracking of unmanned aerial vehicles using both deep learning and expert knowledge. The proposed method does not require the exact model of the system to be…

The capability to autonomously track a non-cooperative target is a key technological requirement for micro aerial vehicles. In this paper, we propose an output feedback control scheme based on deep reinforcement learning for controlling a…

Multi-UAV pursuit-evasion, where pursuers aim to capture evaders, poses a key challenge for UAV swarm intelligence. Multi-agent reinforcement learning (MARL) has demonstrated potential in modeling cooperative behaviors, but most RL-based…

The task of intercepting a target moving along a rectilinear or circular trajectory by a Dubins' car is formulated as a time-optimal control problem with an arbitrary direction of the car's velocity at the interception moment. To solve this…

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…

Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating conditions, the model should…

Underactuated vehicles have gained much attention in the recent years due to the increasing amount of aerial and underwater vehicles as well as nanosatellites. Trajectory tracking control of these vehicles is a substantial aspect for an…

Existing approaches in reinforcement learning train an agent to learn desired optimal behavior in an environment with rule based surrounding agents. In safety critical applications such as autonomous driving it is crucial that the rule…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

This paper presents a deep learning based model predictive control algorithm for control affine nonlinear discrete time systems with matched and bounded state-dependent uncertainties of unknown structure. Since the structure of…

We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the active…

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…

The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation…

Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…

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…

Behaviour prediction function of an autonomous vehicle predicts the future states of the nearby vehicles based on the current and past observations of the surrounding environment. This helps enhance their awareness of the imminent hazards.…

This paper considers a pursuit-evasion scenario among three agents -- an evader, a pursuer, and a defender. We design cooperative guidance laws for the evader and the defender team to safeguard the evader from an attacking pursuer. Unlike…

Automating the navigation of unmanned aerial vehicles (UAVs) in diverse scenarios has gained much attention in recent years. However, teaching UAVs to fly in challenging environments remains an unsolved problem, mainly due to the lack of…

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…