相关论文: Flight Controller Synthesis Via Deep Reinforcement…

Precise near-ground trajectory control is difficult for multi-rotor drones, due to the complex aerodynamic effects caused by interactions between multi-rotor airflow and the environment. Conventional control methods often fail to properly…

Recent research on deep learning, a set of machine learning techniques able to learn deep architectures, has shown how robotic perception and action greatly benefits from these techniques. In terms of spacecraft navigation and control…

Air traffic control is becoming a more and more complex task due to the increasing number of aircraft. Current air traffic control methods are not suitable for managing this increased traffic. Autonomous air traffic control is deemed a…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…

Autonomous navigation in unknown complex environment is still a hard problem, especially for small Unmanned Aerial Vehicles (UAVs) with limited computation resources. In this paper, a neural network-based reactive controller is proposed for…

Deep reinforcement learning (RL) has made it possible to solve complex robotics problems using neural networks as function approximators. However, the policies trained on stationary environments suffer in terms of generalization when…

Controllers designed with reinforcement learning can be sensitive to model mismatch. We demonstrate that designing such controllers in a virtual simulation environment with an inaccurate model is not suitable for deployment in a physical…

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…

Autonomous drone racing has attracted increasing interest as a research topic for exploring the limits of agile flight. However, existing studies primarily focus on obstacle-free racetracks, while the perception and dynamic challenges…

The placement of Kubernetes control-plane nodes is critical to ensuring cluster reliability, scalability, and performance, and therefore represents a significant deployment challenge in heterogeneous, multi-region environments. Existing…

Meta-learning is a branch of machine learning which aims to quickly adapt models, such as neural networks, to perform new tasks by learning an underlying structure across related tasks. In essence, models are being trained to learn new…

The success of deep learning sparked interest in whether the brain learns by using similar techniques for assigning credit to each synaptic weight for its contribution to the network output. However, the majority of current attempts at…

This paper proposes the ProxFly, a residual deep Reinforcement Learning (RL)-based controller for close proximity quadcopter flight. Specifically, we design a residual module on top of a cascaded controller (denoted as basic controller) to…

Over the past decades, progress in deployable autonomous flight systems has slowly stagnated. This is reflected in today's production air-crafts, where pilots only enable simple physics-based systems such as autopilot for takeoff, landing,…

Recent years have shown a growing interest in using haptic shared control (HSC) in teleoperated systems. In HSC, the application of virtual guiding forces decreases the user's control effort and improves execution time in various tasks,…

Despite the tremendous advances that have been made in the last decade on developing useful machine-learning applications, their wider adoption has been hindered by the lack of strong assurance guarantees that can be made about their…

Deep reinforcement learning has gathered much attention recently. Impressive results were achieved in activities as diverse as autonomous driving, game playing, molecular recombination, and robotics. In all these fields, computer programs…

Robotic simulators are crucial for academic research and education as well as the development of safety-critical applications. Reinforcement learning environments -- simple simulations coupled with a problem specification in the form of a…

We consider networked control systems consisting of multiple independent controlled subsystems, operating over a shared communication network. Such systems are ubiquitous in cyber-physical systems, Internet of Things, and large-scale…

In this paper, we investigate the problem of enabling a drone to fly through a tilted narrow gap, without a traditional planning and control pipeline. To this end, we propose an end-to-end policy network, which imitates from the traditional…