相关论文: Learning to Seek: Autonomous Source Seeking with D…
Accurate control of autonomous marine robots still poses challenges due to the complex dynamics of the environment. In this paper, we propose a Deep Reinforcement Learning (DRL) approach to train a controller for autonomous surface vessel…
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…
End-to-end deep reinforcement learning (DRL) for quadrotor control promises many benefits -- easy deployment, task generalization and real-time execution capability. Prior end-to-end DRL-based methods have showcased the ability to deploy…
Micro aerial vehicles (MAVs) are strongly limited in their payload and power capacity. In order to implement autonomous navigation, algorithms are therefore desirable that use sensory equipment that is as small, low-weight, and low-power…
The rapid advancement of electric vertical takeoff and landing (eVTOL) aircraft offers a promising opportunity to alleviate urban traffic congestion but is still limited by excessive power demands, especially during the takeoff phase. Thus,…
This paper presents the first end-to-end framework that combines guidance, navigation, and centralised task allocation for multiple UAVs performing autonomous search-and-rescue (SAR) in GNSS-denied indoor environments. A Twin Delayed Deep…
Model-free continuous control for robot navigation tasks using Deep Reinforcement Learning (DRL) that relies on noisy policies for exploration is sensitive to the density of rewards. In practice, robots are usually deployed in cluttered…
Performing autonomous exploration is essential for unmanned aerial vehicles (UAVs) operating in unknown environments. Often, these missions start with building a map for the environment via pure exploration and subsequently using (i.e.…
Cognitive radars are systems that rely on learning through interactions of the radar with the surrounding environment. To realize this, radar transmit parameters can be adapted such that they facilitate some downstream task. This paper…
Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…
Fully autonomous vehicles promise enhanced safety and efficiency. However, ensuring reliable operation in challenging corner cases requires control algorithms capable of performing at the vehicle limits. We address this requirement by…
Employing unmanned aerial vehicles (UAVs) has attracted growing interests and emerged as the state-of-the-art technology for data collection in Internet-of-Things (IoT) networks. In this paper, with the objective of minimizing the total…
This article presents a deep reinforcement learning-based approach to tackle a persistent surveillance mission requiring a single unmanned aerial vehicle initially stationed at a depot with fuel or time-of-flight constraints to repeatedly…
Autonomous unpowered flight is a challenge for control and guidance systems: all the energy the aircraft might use during flight has to be harvested directly from the atmosphere. We investigate the design of an algorithm that optimizes the…
Reinforcement learning is of increasing importance in the field of robot control and simulation plays a~key role in this process. In the unmanned aerial vehicles (UAVs, drones), there is also an increase in the number of published…
This paper investigates the application of Deep Reinforcement (DRL) Learning to address motion control challenges in drones for additive manufacturing (AM). Drone-based additive manufacturing promises flexible and autonomous material…
Developing an automated driving system capable of navigating complex traffic environments remains a formidable challenge. Unlike rule-based or supervised learning-based methods, Deep Reinforcement Learning (DRL) based controllers eliminate…
Agile flight for the quadrotor cable-suspended payload system is a formidable challenge due to its underactuated, highly nonlinear, and hybrid dynamics. Traditional optimization-based methods often struggle with high computational costs and…
Teams of autonomous unmanned aircraft can be used to monitor wildfires, enabling firefighters to make informed decisions. However, controlling multiple autonomous fixed-wing aircraft to maximize forest fire coverage is a complex problem.…
Learning to safely navigate in unknown environments is an important task for autonomous drones used in surveillance and rescue operations. In recent years, a number of learning-based Simultaneous Localisation and Mapping (SLAM) systems…