相关论文: Reinforcement learning reward function in unmanned…

Reinforcement learning requires manual specification of a reward function to learn a task. While in principle this reward function only needs to specify the task goal, in practice reinforcement learning can be very time-consuming or even…

Multi-UAV pursuit-evasion, where pursuers aim to capture evaders, poses a key challenge for UAV swarm intelligence. Multi-agent reinforcement learning (MARL) has demonstrated potential in modeling cooperative behaviors, but most RL-based…

There is a growing need for uncrewed aerial vehicles (UAVs) to operate in cities. However, the uneven urban landscape and complex street systems cause large-scale wind gusts that challenge the safe and effective operation of UAVs. Current…

Unmanned aerial vehicles (UAVs) are promising for providing communication services due to their advantages in cost and mobility, especially in the context of the emerging Metaverse and Internet of Things (IoT). This paper considers a…

To perform robot manipulation tasks, a low-dimensional state of the environment typically needs to be estimated. However, designing a state estimator can sometimes be difficult, especially in environments with deformable objects. An…

The growing use of mobile robots in sectors such as automotive, agriculture, and rescue operations reflects progress in robotics and autonomy. In unmanned aerial vehicles (UAVs), most research emphasizes visual SLAM, sensor fusion, and path…

Landing an unmanned aerial vehicle (UAV) on a ground marker is an open problem despite the effort of the research community. Previous attempts mostly focused on the analysis of hand-crafted geometric features and the use of external sensors…

We present a novel Deep Reinforcement Learning (DRL) based policy to compute dynamically feasible and spatially aware velocities for a robot navigating among mobile obstacles. Our approach combines the benefits of the Dynamic Window…

In this work, we present a reward-driven automated curriculum reinforcement learning approach for interaction-aware self-driving at unsignalized intersections, taking into account the uncertainties associated with surrounding vehicles…

Reinforcement learning (RL) in autonomous driving employs a trial-and-error mechanism, enhancing robustness in unpredictable environments. However, crafting effective reward functions remains challenging, as conventional approaches rely…

In ultra-dense unmanned aerial vehicle (UAV) networks, it is challenging to coordinate the resource allocation and interference management among large-scale UAVs, for providing flexible and efficient service coverage to the ground users…

Unmanned aerial vehicles (UAVs) are recognized as promising technologies for area coverage due to the flexibility and adaptability. However, the ability of a single UAV is limited, and as for the large-scale three-dimensional (3D) scenario,…

In this paper, a novel mechanism-driven reinforcement learning framework is proposed for airfoil shape optimization. To validate the framework, a reward function is designed and analyzed, from which the equivalence between the maximizing…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

As people learn to navigate the world, autonomic nervous system (e.g., "fight or flight") responses provide intrinsic feedback about the potential consequence of action choices (e.g., becoming nervous when close to a cliff edge or driving…

Robot navigation has transitioned from prioritizing obstacle avoidance to adopting socially aware navigation strategies that accommodate human presence. As a result, the recognition of socially aware navigation within dynamic human-centric…

Multirotor UAVs are used for a wide spectrum of civilian and public domain applications. Navigation controllers endowed with different attributes and onboard sensor suites enable multirotor autonomous or semi-autonomous, safe flight,…

A fairly reliable trend in deep reinforcement learning is that the performance scales with the number of parameters, provided a complimentary scaling in amount of training data. As the appetite for large models increases, it is imperative…

Dialog policy decides what and how a task-oriented dialog system will respond, and plays a vital role in delivering effective conversations. Many studies apply Reinforcement Learning to learn a dialog policy with the reward function which…

An unmanned aerial vehicle (UAV)-aided mobile edge computing (MEC) framework is proposed, where several UAVs having different trajectories fly over the target area and support the user equipments (UEs) on the ground. We aim to jointly…