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

Visual exploration and smart data collection via autonomous vehicles is an attractive topic in various disciplines. Disturbances like wind significantly influence both the power consumption of the flying robots and the performance of the…

In this paper, we introduce a method to deal with the problem of robot local path planning among pushable objects -- an open problem in robotics. In particular, we achieve that by training multiple agents simultaneously in a physics-based…

The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…

One effective approach for equipping artificial agents with sensorimotor skills is to use self-exploration. To do this efficiently is critical, as time and data collection are costly. In this study, we propose an exploration mechanism that…

In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…

In this paper, a novel deep reinforcement learning (DRL)-based method is proposed to navigate the robot team through unknown complex environments, where the geometric centroid of the robot team aims to reach the goal position while avoiding…

This review article is an attempt to survey all recent AI based techniques used to deal with major functions in This review paper presents a comprehensive overview of end-to-end deep learning frameworks used in the context of autonomous…

Finding meaningful and accurate dense rewards is a fundamental task in the field of reinforcement learning (RL) that enables agents to explore environments more efficiently. In traditional RL settings, agents learn optimal policies through…

How can a delivery robot navigate reliably to a destination in a new office building, with minimal prior information? To tackle this challenge, this paper introduces a two-level hierarchical approach, which integrates model-free deep…

While routing in wireless networks has been studied extensively, existing protocols are typically designed for a specific set of network conditions and so cannot accommodate any drastic changes in those conditions. For instance, protocols…

Robots with increasing autonomy progress our space exploration capabilities, particularly for in-situ exploration and sampling to stand in for human explorers. Currently, humans drive robots to meet scientific objectives, but depending on…

To solve tasks in complex environments, robots need to learn from experience. Deep reinforcement learning is a common approach to robot learning but requires a large amount of trial and error to learn, limiting its deployment in the…

Path planning for mobile robots in large dynamic environments is a challenging problem, as the robots are required to efficiently reach their given goals while simultaneously avoiding potential conflicts with other robots or dynamic…

Reinforcement learning requires manual specification of a reward function to learn a task. While in principle this reward function only needs to specify the task goal, in practice reinforcement learning can be very time-consuming or even…

Deep reinforcement learning (DRL) has achieved groundbreaking successes in a wide variety of robotic applications. A natural consequence is the adoption of this paradigm for safety-critical tasks, where human safety and expensive hardware…

This paper presents Deep-PANTHER, a learning-based perception-aware trajectory planner for unmanned aerial vehicles (UAVs) in dynamic environments. Given the current state of the UAV, and the predicted trajectory and size of the obstacle,…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

Terrain traversability analysis is a fundamental issue to achieve the autonomy of a robot at off-road environments. Geometry-based and appearance-based methods have been studied in decades, while behavior-based methods exploiting learning…

Deep reinforcement learning (RL) has brought many successes for autonomous robot navigation. However, there still exists important limitations that prevent real-world use of RL-based navigation systems. For example, most learning approaches…

Robots capable of performing manipulation tasks in a broad range of missions in unstructured environments can develop numerous applications to impact and enhance human life. Existing work in robot learning has shown success in applying…