相关论文: Learning Resilient Behaviors for Navigation Under …

Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such behaviors, it is necessary to select and sequence them to…

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…

Unmanned Surface Vehicles technology (USVs) is an exciting topic that essentially deploys an algorithm to safely and efficiently performs a mission. Although reinforcement learning is a well-known approach to modeling such a task,…

The primary goal of reinforcement learning is to develop decision-making policies that prioritize optimal performance, frequently without considering safety. In contrast, safe reinforcement learning seeks to reduce or avoid unsafe behavior.…

With the rapidly growing expansion in the use of UAVs, the ability to autonomously navigate in varying environments and weather conditions remains a highly desirable but as-of-yet unsolved challenge. In this work, we use Deep Reinforcement…

This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware of…

Learning is an inherently continuous phenomenon. When humans learn a new task there is no explicit distinction between training and inference. As we learn a task, we keep learning about it while performing the task. What we learn and how we…

Robotic learning for navigation in unfamiliar environments needs to provide policies for both task-oriented navigation (i.e., reaching a goal that the robot has located), and task-agnostic exploration (i.e., searching for a goal in a novel…

Navigation strategies that intentionally incorporate contact with humans (i.e. "contact-based" social navigation) in crowded environments are largely unexplored even though collision-free social navigation is a well studied problem.…

Uncertainty quantification methods are required in autonomous systems that include deep learning (DL) components to assess the confidence of their estimations. However, to successfully deploy DL components in safety-critical autonomous…

Autonomous navigation in dynamic environments is a complex but essential task for autonomous robots, with recent deep reinforcement learning approaches showing promising results. However, the complexity of the real world makes it infeasible…

Visual navigation tasks in real-world environments often require both self-motion and place recognition feedback. While deep reinforcement learning has shown success in solving these perception and decision-making problems in an end-to-end…

Model-based reinforcement learning has the potential to be more sample efficient than model-free approaches. However, existing model-based methods are vulnerable to model bias, which leads to poor generalization and asymptotic performance…

This work proposes the use of Bayesian approximations of uncertainty from deep learning in a robot planner, showing that this produces more cautious actions in safety-critical scenarios. The case study investigated is motivated by a setup…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

Adaptability is central to autonomy. Intuitively, for high-dimensional learning problems such as navigating based on vision, internal models with higher complexity allow to accurately encode the information available. However, most learning…

Machine learning proves effective in constructing dynamics models from data, especially for underwater vehicles. Continuous refinement of these models using incoming data streams, however, often requires storage of an overwhelming amount of…

Autonomous navigation in crowded environments is an open problem with many applications, essential for the coexistence of robots and humans in the smart cities of the future. In recent years, deep reinforcement learning approaches have…

Data-driven control in unknown environments requires a clear understanding of the involved uncertainties for ensuring safety and efficient exploration. While aleatoric uncertainty that arises from measurement noise can often be explicitly…

This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…