相关论文: DRQN-based 3D Obstacle Avoidance with a Limited Fi…

Learning-based motion planning can quickly generate near-optimal trajectories. However, it often requires either large training datasets or costly collection of human demonstrations. This work proposes an alternative approach that quickly…

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…

Unmanned aerial vehicles (UAVs) can be utilized as aerial base stations (ABSs) to assist terrestrial infrastructure for keeping wireless connectivity in various emergency scenarios. To maximize the coverage rate of N ground users (GUs) by…

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…

We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…

Obstacle avoidance is a critical component of the navigation stack required for mobile robots to operate effectively in complex and unknown environments. In this research, three end-to-end Convolutional Neural Networks (CNNs) were trained…

We consider the problem of indoor building-scale social navigation, where the robot must reach a point goal as quickly as possible without colliding with humans who are freely moving around. Factors such as varying crowd densities,…

This paper presents a novel obstacle avoidance system for road robots equipped with RGB-D sensor that captures scenes of its way forward. The purpose of the system is to have road robots move around autonomously and constantly without any…

This paper presents a technique for navigation of mobile robot with Deep Q-Network (DQN) combined with Gated Recurrent Unit (GRU). The DQN integrated with the GRU allows action skipping for improved navigation performance. This technique…

In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…

Object-goal visual navigation aims to reach a specific target object using egocentric visual observations. Recent deep reinforcement learning (DRL) approaches have achieved promising success rates but often neglect collisions during…

This paper addresses the problem of traversing through unknown, tilted, and narrow gaps for quadrotors using Deep Reinforcement Learning (DRL). Previous learning-based methods relied on accurate knowledge of the environment, including the…

End-to-end autonomous driving offers a streamlined alternative to the traditional modular pipeline, integrating perception, prediction, and planning within a single framework. While Deep Reinforcement Learning (DRL) has recently gained…

Deep Reinforcement Learning (DRL) has shown its promising capabilities to learn optimal policies directly from trial and error. However, learning can be hindered if the goal of the learning, defined by the reward function, is "not optimal".…

Socially aware navigation is a fast-evolving research area in robotics that enables robots to move within human environments while adhering to the implicit human social norms. The advent of Deep Reinforcement Learning (DRL) has accelerated…

Deep reinforcement learning (DRL) has exhibited considerable promise in the training of control agents for mapless robot navigation. However, DRL-trained agents are limited to the specific robot dimensions used during training, hindering…

We present RangeRCNN, a novel and effective 3D object detection framework based on the range image representation. Most existing methods are voxel-based or point-based. Though several optimizations have been introduced to ease the sparsity…

Performing autonomous exploration is essential for unmanned aerial vehicles (UAVs) operating in unknown environments. Often, these missions start with building a map for the environment via pure exploration and subsequently using (i.e.…

Deep Reinforcement Learning (DRL) offers a powerful approach to training neural network control policies for stochastic queuing networks (SQN). However, traditional DRL methods rely on offline simulations or static datasets, limiting their…

Conventional simulations on multi-exit indoor evacuation focus primarily on how to determine a reasonable exit based on numerous factors in a changing environment. Results commonly include some congested and other under-utilized exits,…