相关论文: Connecting Deep-Reinforcement-Learning-based Obsta…

Global routing has been a historically challenging problem in electronic circuit design, where the challenge is to connect a large and arbitrary number of circuit components with wires without violating the design rules for the printed…

Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…

Recent applications of deep learning to navigation have generated end-to-end navigation solutions whereby visual sensor input is mapped to control signals or to motion primitives. The resulting visual navigation strategies work very well at…

Autonomous mobile robots operating in complex, dynamic environments face the dual challenge of navigating large-scale, structurally diverse spaces with static obstacles while safely interacting with various moving agents. Traditional…

In recent years several learning approaches to point goal navigation in previously unseen environments have been proposed. They vary in the representations of the environments, problem decomposition, and experimental evaluation. In this…

Safe navigation is essential for autonomous systems operating in hazardous environments. Traditional planning methods excel at long-horizon tasks but rely on a predefined graph with fixed distance metrics. In contrast, safe Reinforcement…

Automated driving in urban settings is challenging. Human participant behavior is difficult to model, and conventional, rule-based Automated Driving Systems (ADSs) tend to fail when they face unmodeled dynamics. On the other hand, the more…

With the rapidly growing interest in autonomous navigation, the body of research on motion planning and collision avoidance techniques has enjoyed an accelerating rate of novel proposals and developments. However, the complexity of new…

Integration of reinforcement learning with unmanned aerial vehicles (UAVs) to achieve autonomous flight has been an active research area in recent years. An important part focuses on obstacle detection and avoidance for UAVs navigating…

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…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

Autonomous 3D environment exploration is a fundamental task for various applications such as navigation. The goal of exploration is to investigate a new environment and build its occupancy map efficiently. In this paper, we propose a new…

The problem of mixed static and dynamic obstacle avoidance is essential for path planning in highly dynamic environment. However, the paths formed by grid edges can be longer than the true shortest paths in the terrain since their headings…

Real-time path planning in constrained environments remains a fundamental challenge for autonomous systems. Traditional classical planners, while effective under perfect perception assumptions, are often sensitive to real-world perception…

Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…

Obstacle avoidance is a fundamental and challenging problem for autonomous navigation of mobile robots. In this paper, we consider the problem of obstacle avoidance in simple 3D environments where the robot has to solely rely on a single…

To achieve scenario intelligence, humans must transfer knowledge to robots by developing goal-oriented algorithms, which are sometimes insensitive to dynamically changing environments. While deep reinforcement learning achieves significant…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

Development of navigation algorithms is essential for the successful deployment of robots in rapidly changing hazardous environments for which prior knowledge of configuration is often limited or unavailable. Use of traditional…

Most microscopic pedestrian navigation models use the concept of "forces" applied to the pedestrian agents to replicate the navigation environment. While the approach could provide believable results in regular situations, it does not…