相关论文: Deep-Learning-Aided Path Planning and Map Construc…

This paper aims to improve the computational efficiency of motion planning for mobile robots with non-trivial dynamics through the use of learned controllers. Offline, a system-specific controller is first trained in an empty environment.…

Deep neural networks for aerial image segmentation require large amounts of labeled data, but high-quality aerial datasets with precise annotations are scarce and costly to produce. To address this limitation, we propose a self-supervised…

The task of room layout estimation is to locate the wall-floor, wall-ceiling, and wall-wall boundaries. Most recent methods solve this problem based on edge/keypoint detection or semantic segmentation. However, these approaches have shown…

General-purpose planning algorithms for automated driving combine mission, behavior, and local motion planning. Such planning algorithms map features of the environment and driving kinematics into complex reward functions. To achieve this,…

Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…

Recent research on deep learning, a set of machine learning techniques able to learn deep architectures, has shown how robotic perception and action greatly benefits from these techniques. In terms of spacecraft navigation and control…

Most design methods contain a forward framework, asking for primary specifications of a building to generate an output or assess its performance. However, architects urge for specific objectives though uncertain of the proper design…

Autonomous navigation is an essential capability of smart mobility for mobile robots. Traditional methods must have the environment map to plan a collision-free path in workspace. Deep reinforcement learning (DRL) is a promising technique…

One of the fundamental problems within the field of machine learning is dimensionality reduction. Dimensionality reduction methods make it possible to combat the so-called curse of dimensionality, visualize high-dimensional data and, in…

Path planning in unknown environments is a crucial yet inherently challenging capability for mobile robots, which primarily encompasses two coupled tasks: autonomous exploration and point-goal navigation. In both cases, the robot must…

Path planning methods for autonomous unmanned aerial vehicles (UAVs) are typically designed for one specific type of mission. This work presents a method for autonomous UAV path planning based on deep reinforcement learning (DRL) that can…

Real-world planning problems often involve hundreds or even thousands of objects, straining the limits of modern planners. In this work, we address this challenge by learning to predict a small set of objects that, taken together, would be…

Travel time estimation is a fundamental problem in transportation science with extensive literature. The study of these techniques has intensified due to availability of many publicly available large trip datasets. Recently developed deep…

We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…

Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work…

Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using…

Forecasting the scalable future states of surrounding traffic participants in complex traffic scenarios is a critical capability for autonomous vehicles, as it enables safe and feasible decision-making. Recent successes in learning-based…

Deep Neural Networks (DNN) are becoming increasingly more important in assisted and automated driving. Using such entities which are obtained using machine learning is inevitable: tasks such as recognizing traffic signs cannot be developed…

Deep neural networks have recently drawn considerable attention to build and evaluate artificial learning models for perceptual tasks. Here, we present a study on the performance of the deep learning models to deal with global optimization…

In self driving car applications, there is a requirement to predict the location of the lane given an input RGB front facing image. In this paper, we propose an architecture that allows us to increase the speed and robustness of road…