相关论文: Autonomous Navigation via Deep Reinforcement Learn…

Wireless network optimization has been becoming very challenging as the problem size and complexity increase tremendously, due to close couplings among network entities with heterogeneous service and resource requirements. By continuously…

Artificial Intelligence (AI) is a key component of 6G networks, as it enables communication and computing services to adapt to end users' requirements and demand patterns. The management of Mobile Edge Computing (MEC) is a meaningful…

The advent of fifth generation (5G) networks has opened new avenues for enhancing connectivity, particularly in challenging environments like remote areas or disaster-struck regions. Unmanned aerial vehicles (UAVs) have been identified as a…

Autonomous drone navigation faces a critical challenge in achieving accurate landings on dynamic platforms, especially under unpredictable conditions such as wind turbulence. Our research introduces TornadoDrone, a novel Deep Reinforcement…

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…

This work explores the feasibility of steering a drone with a (recurrent) neural network, based on input from a forward looking camera, in the context of a high-level navigation task. We set up a generic framework for training a network to…

Obstacle avoidance for unmanned aerial vehicles like quadrotors is a popular research topic. Most existing research focuses only on static environments, and obstacle avoidance in environments with multiple dynamic obstacles remains…

Two less addressed issues of deep reinforcement learning are (1) lack of generalization capability to new target goals, and (2) data inefficiency i.e., the model requires several (and often costly) episodes of trial and error to converge,…

This research aims to explore the application of deep learning in autonomous driving computer vision technology and its impact on improving system performance. By using advanced technologies such as convolutional neural networks (CNN),…

In this paper, we propose a transfer learning (TL)-enabled edge-CNN framework for 5G industrial edge networks with privacy-preserving characteristic. In particular, the edge server can use the existing image dataset to train the CNN in…

Modern deep neural network (DNN) systems are highly configurable with large a number of options that significantly affect their non-functional behavior, for example inference time and energy consumption. Performance models allow to…

Socially aware navigation is a fast-evolving research area in robotics that enables robots to move within human environments while adhering to the implicit human social norms. The advent of Deep Reinforcement Learning (DRL) has accelerated…

Deep Neural Networks (DNNs) which are trained end-to-end have been successfully applied to solve complex problems that we have not been able to solve in past decades. Autonomous driving is one of the most complex problems which is yet to be…

As power systems are undergoing a significant transformation with more uncertainties, less inertia and closer to operation limits, there is increasing risk of large outages. Thus, there is an imperative need to enhance grid emergency…

Deep learning uses neural networks which are parameterised by their weights. The neural networks are usually trained by tuning the weights to directly minimise a given loss function. In this paper we propose to re-parameterise the weights…

With the prosperity of mobile devices, the distributed learning approach enabling model training with decentralized data has attracted wide research. However, the lack of training capability for edge devices significantly limits the energy…

Since deep neural networks' resurgence, reinforcement learning has gradually strengthened and surpassed humans in many conventional games. However, it is not easy to copy these accomplishments to autonomous driving because state spaces are…

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 recent years, Deep Reinforcement Learning emerged as a promising approach for autonomous navigation of ground vehicles and has been utilized in various areas of navigation such as cruise control, lane changing, or obstacle avoidance.…

Autonomous navigation of terrestrial robots using Reinforcement Learning (RL) from LIDAR observations remains challenging due to the high dimensionality of sensor data and the sample inefficiency of model-free approaches. Conventional…