相关论文: Deep Reinforcement Learning for Continuous Docking…
Deep Reinforcement Learning (DRL) offers a robust alternative to traditional control methods for autonomous underwater docking, particularly in adapting to unpredictable environmental conditions. However, bridging the "sim-to-real" gap and…
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…
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…
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…
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…
Accurate control of autonomous marine robots still poses challenges due to the complex dynamics of the environment. In this paper, we propose a Deep Reinforcement Learning (DRL) approach to train a controller for autonomous surface vessel…
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…
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…
Recently, reinforcement learning (RL) has been extensively studied and achieved promising results in a wide range of control tasks. Meanwhile, autonomous underwater vehicle (AUV) is an important tool for executing complex and challenging…
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…
Collision avoidance is a crucial task in vision-guided autonomous navigation. Solutions based on deep reinforcement learning (DRL) has become increasingly popular. In this work, we proposed several novel agent state and reward function…
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…
Attitude control of fixed-wing unmanned aerial vehicles (UAVs) is a difficult control problem in part due to uncertain nonlinear dynamics, actuator constraints, and coupled longitudinal and lateral motions. Current state-of-the-art…
This paper presents an approach for autonomous docking of a fully actuated autonomous surface vessel using expert demonstration data. We frame the docking problem as an imitation learning task and employ inverse reinforcement learning (IRL)…
Autonomous Underwater Vehicle (AUV) docking in dynamic and uncertain environments is a critical challenge for underwater robotics. Reinforcement learning is a promising method for developing robust controllers, but the disparity between…
Despite significant advancements in Deep Reinforcement Learning (DRL) for Autonomous Surface Vehicles (ASVs), their robustness in real-world conditions, particularly under external disturbances, remains insufficiently explored. In this…
An exciting and promising frontier for Deep Reinforcement Learning (DRL) is its application to real-world robotic systems. While modern DRL approaches achieved remarkable successes in many robotic scenarios (including mobile robotics,…
In this paper, a deep reinforcement learning (DRL) method is proposed to address the problem of UAV navigation in an unknown environment. However, DRL algorithms are limited by the data efficiency problem as they typically require a huge…
This paper focuses on the continuous control of the unmanned aerial vehicle (UAV) based on a deep reinforcement learning method for a large-scale 3D complex environment. The purpose is to make the UAV reach any target point from a certain…
The use of autonomous underwater vehicles (AUVs) for surveying, mapping, and inspecting unexplored underwater areas plays a crucial role, where maneuverability and power efficiency are key factors for extending the use of these platforms,…