相关论文: A selected review on reinforcement learning based …
In this paper, we consider depth control problems of an autonomous underwater vehicle (AUV) for tracking the desired depth trajectories. Due to the unknown dynamical model of the AUV, the problems cannot be solved by most of model-based…
This study presents a novel environment-aware reinforcement learning (RL) framework designed to augment the operational capabilities of autonomous underwater vehicles (AUVs) in underwater environments. Departing from traditional RL…
Autonomous Underwater Vehicles (AUVs) are essential for marine exploration, yet their control remains highly challenging due to nonlinear dynamics and uncertain environmental disturbances. This paper presents a diffusion-augmented…
Autonomous underwater vehicle (AUV) plays an increasingly important role in ocean exploration. Existing AUVs are usually not fully autonomous and generally limited to pre-planning or pre-programming tasks. Reinforcement learning (RL) and…
Unmanned Aerial Vehicles (UAVs) are increasingly used in automated inspection, delivery, and navigation tasks that require reliable autonomy. This project develops a reinforcement learning (RL) approach to enable a single UAV to…
Since the application of Deep Q-Learning to the continuous action domain in Atari-like games, Deep Reinforcement Learning (Deep-RL) techniques for motion control have been qualitatively enhanced. Nowadays, modern Deep-RL can be successfully…
Learning-based adaptive control methods hold the premise of enabling autonomous agents to reduce the effect of process variations with minimal human intervention. However, its application to autonomous underwater vehicles (AUVs) has so far…
Docking control of an autonomous underwater vehicle (AUV) is a task that is integral to achieving persistent long term autonomy. This work explores the application of state-of-the-art model-free deep reinforcement learning (DRL) approaches…
There is an increasing demand for using Unmanned Aerial Vehicle (UAV), known as drones, in different applications such as packages delivery, traffic monitoring, search and rescue operations, and military combat engagements. In all of these…
In recent years, unmanned aerial vehicle (UAV) related technology has expanded knowledge in the area, bringing to light new problems and challenges that require solutions. Furthermore, because the technology allows processes usually carried…
In this paper, we propose a novel cross-platform fault-tolerant surfacing controller for underwater robots, based on reinforcement learning (RL). Unlike conventional approaches, which require explicit identification of malfunctioning…
Creating safe paths in unknown and uncertain environments is a challenging aspect of leader-follower formation control. In this architecture, the leader moves toward the target by taking optimal actions, and followers should also avoid…
The adaptivity and maneuvering capabilities of Autonomous Underwater Vehicles (AUVs) have drawn significant attention in oceanic research, due to the unpredictable disturbances and strong coupling among the AUV's degrees of freedom. In this…
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…
Electric motors are crucial in many applications, but traditional control methods struggle with nonlinearities, parameter uncertainties, and external disturbances. Reinforcement Learning (RL) offers a promising solution as a data-driven…
Reinforcement learning (RL) algorithms are designed to optimize problem-solving by learning actions that maximize rewards, a task that becomes particularly challenging in random and nonstationary environments. Even advanced RL algorithms…
Unmanned autonomous vehicles (UAVs) rely on effective path planning and tracking control to accomplish complex tasks in various domains. Reinforcement Learning (RL) methods are becoming increasingly popular in control applications, as they…
The proliferation of unmanned aerial vehicles (UAVs) in controlled airspace presents significant risks, including potential collisions, disruptions to air traffic, and security threats. Ensuring the safe and efficient operation of airspace,…
In marine operations underwater manipulators play a primordial role. However, due to uncertainties in the dynamic model and disturbances caused by the environment, low-level control methods require great capabilities to adapt to change.…
Compared with model-based control and optimization methods, reinforcement learning (RL) provides a data-driven, learning-based framework to formulate and solve sequential decision-making problems. The RL framework has become promising due…