相关论文: Deep Learned Path Planning via Randomized Reward-L…

The U.S. Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge requires teams of robots to traverse difficult and diverse underground environments. Traversing small gaps is one of the challenging scenarios that robots…

This work adds on to the on-going efforts to provide more autonomy to space robots. Here the concept of programming by demonstration or imitation learning is used for trajectory planning of manipulators mounted on small spacecraft. For…

This paper presents a Deep Reinforcement Learning based navigation approach in which we define the occupancy observations as heuristic evaluations of motion primitives, rather than using raw sensor data. Our method enables fast mapping of…

Increased growth in the global Unmanned Aerial Vehicles (UAV) (drone) industry has expanded possibilities for fully autonomous UAV applications. A particular application which has in part motivated this research is the use of UAV in wide…

Multi-legged robots offer enhanced stability in complex terrains, yet autonomously learning natural and robust motions in such environments remains challenging. Drawing inspiration from animals' progressive learning patterns, from simple to…

Deep reinforcement learning (DRL) has exhibited considerable promise in the training of control agents for mapless robot navigation. However, DRL-trained agents are limited to the specific robot dimensions used during training, hindering…

To achieve the ambitious goals of artificial intelligence, reinforcement learning must include planning with a model of the world that is abstract in state and time. Deep learning has made progress with state abstraction, but temporal…

This paper reports on learning a reward map for social navigation in dynamic environments where the robot can reason about its path at any time, given agents' trajectories and scene geometry. Humans navigating in dense and dynamic indoor…

Resource-constrained robots often suffer from energy inefficiencies, underutilized computational abilities due to inadequate task allocation, and a lack of robustness in dynamic environments, all of which strongly affect their performance.…

Reinforcement learning provides a general framework for learning robotic skills while minimizing engineering effort. However, most reinforcement learning algorithms assume that a well-designed reward function is provided, and learn a single…

Robot navigation is a task where reinforcement learning approaches are still unable to compete with traditional path planning. State-of-the-art methods differ in small ways, and do not all provide reproducible, openly available…

Automated driving in urban settings is challenging. Human participant behavior is difficult to model, and conventional, rule-based Automated Driving Systems (ADSs) tend to fail when they face unmodeled dynamics. On the other hand, the more…

Deep reinforcement learning has shown promise in various engineering applications, including vehicular traffic control. The non-stationary nature of traffic, especially in the lane-free environment with more degrees of freedom in vehicle…

Extraterrestrial rovers with a general-purpose robotic arm have many potential applications in lunar and planetary exploration. Introducing autonomy into such systems is desirable for increasing the time that rovers can spend gathering…

Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…

Robots that navigate among pedestrians use collision avoidance algorithms to enable safe and efficient operation. Recent works present deep reinforcement learning as a framework to model the complex interactions and cooperation. However,…

For real-world deployments, it is critical to allow robots to navigate in complex environments autonomously. Traditional methods usually maintain an internal map of the environment, and then design several simple rules, in conjunction with…

Deep reinforcement learning is a promising approach to learning policies in uncontrolled environments that do not require domain knowledge. Unfortunately, due to sample inefficiency, deep RL applications have primarily focused on simulated…

The problem of autonomous indoor mapping is addressed. The goal is to minimize the time to achieve a predefined percentage of exposure with some desired level of certainty. The use of a pre-trained generative deep neural network, acting as…

When robots are deployed in the field for environmental monitoring they typically execute pre-programmed motions, such as lawnmower paths, instead of adaptive methods, such as informative path planning. One reason for this is that adaptive…