相关论文: UAV Path Planning using Global and Local Map Infor…

Efficient path planning for unmanned aerial vehicles (UAVs) is crucial in remote sensing and information collection. As task scales expand, the cooperative deployment of multiple UAVs significantly improves information collection…

A major challenge with off-road autonomous navigation is the lack of maps or road markings that can be used to plan a path for autonomous robots. Classical path planning methods mostly assume a perfectly known environment without accounting…

In this paper, we introduce HDPlanner, a deep reinforcement learning (DRL) based framework designed to tackle two core and challenging tasks for mobile robots: autonomous exploration and navigation, where the robot must optimize its…

Autonomous robots are widely utilized for mapping and exploration tasks due to their cost-effectiveness. Multi-robot systems offer scalability and efficiency, especially in terms of the number of robots deployed in more complex…

Maritime autonomous transportation has played a crucial role in the globalization of the world economy. Deep Reinforcement Learning (DRL) has been applied to automatic path planning to simulate vessel collision avoidance situations in open…

Deep Reinforcement Learning is quickly becoming a popular method for training autonomous Unmanned Aerial Vehicles (UAVs). Our work analyzes the effects of measurement uncertainty on the performance of Deep Reinforcement Learning (DRL) based…

The unmanned aerial vehicle (UAV) network is popular these years due to its various applications. In the UAV network, routing is significantly affected by the distributed network topology, leading to the issue that UAVs are vulnerable to…

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…

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…

Route planning is essential to mobile robot navigation problems. In recent years, deep reinforcement learning (DRL) has been applied to learning optimal planning policies in stochastic environments without prior knowledge. However, existing…

This work presents an online learning-based control method for improved trajectory tracking of unmanned aerial vehicles using both deep learning and expert knowledge. The proposed method does not require the exact model of the system to be…

We present a novel algorithm (DeepMNavigate) for global multi-agent navigation in dense scenarios using deep reinforcement learning (DRL). Our approach uses local and global information for each robot from motion information maps. We use a…

Active target sensing is the task of discovering and classifying an unknown number of targets in an environment and is critical in search-and-rescue missions. This paper develops a deep reinforcement learning approach to plan informative…

Unmanned Aerial vehicles (UAVs) are widely used as network processors in mobile networks, but more recently, UAVs have been used in Mobile Edge Computing as mobile servers. However, there are significant challenges to use UAVs in complex…

Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…

This paper presents a Pre-Training Deep Reinforcement Learning(DRL) for avoidance navigation without map for mobile robots which map raw sensor data to control variable and navigate in an unknown environment. The efficient offline training…

Image retrieval (IR) has emerged as a promising approach for self-localization in unmanned aerial vehicles (UAVs). However, IR-based methods face several challenges: 1) Pre- and post-processing incur significant computational and storage…

We propose an informative path planning (IPP) algorithm for active classification using an unmanned aerial vehicle (UAV), focusing on weed detection in precision agriculture. We model the presence of weeds on farmland using an occupancy…

This paper proposes a novel Reinforcement Learning (RL) approach for sim-to-real policy transfer of Vertical Take-Off and Landing Unmanned Aerial Vehicle (VTOL-UAV). The proposed approach is designed for VTOL-UAV landing on offshore docking…

Unmanned aerial vehicles (UAVs) have emerged as a promising auxiliary platform for smart agriculture, capable of simultaneously performing weed detection, recognition, and data collection from wireless sensors. However, trajectory planning…