相关论文: Robust Longitudinal Control for Vehicular Autonomo…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

The last decade witnessed increasingly rapid progress in self-driving vehicle technology, mainly backed up by advances in the area of deep learning and artificial intelligence. The objective of this paper is to survey the current…

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,…

Reinforcement learning (RL) is a powerful data-driven control method that has been largely explored in autonomous driving tasks. However, conventional RL approaches learn control policies through trial-and-error interactions with the…

In order to collaborate efficiently with unknown partners in cooperative control settings, adaptation of the partners based on online experience is required. The rather general and widely applicable control setting, where each cooperation…

While reinforcement learning algorithms have had great success in the field of autonomous navigation, they cannot be straightforwardly applied to the real autonomous systems without considering the safety constraints. The later are crucial…

In this paper, we propose a novel Deep Reinforcement Learning approach to address the mapless navigation problem, in which the locomotion actions of a humanoid robot are taken online based on the knowledge encoded in learned models.…

The rapid development of autonomous vehicles (AVs) holds vast potential for transportation systems through improved safety, efficiency, and access to mobility. However, the progression of these impacts, as AVs are adopted, is not well…

Offline reinforcement learning, which learns solely from datasets without environmental interaction, has gained attention. This approach, similar to traditional online deep reinforcement learning, is particularly promising for robot control…

Reinforcement learning is commonly associated with training of reward-maximizing (or cost-minimizing) agents, in other words, controllers. It can be applied in model-free or model-based fashion, using a priori or online collected system…

We propose a novel adaptive reinforcement learning control approach for fault tolerant control of degrading systems that is not preceded by a fault detection and diagnosis step. Therefore, \textit{a priori} knowledge of faults that may…

Reinforcement learning techniques can provide substantial insights into the desired behaviors of future autonomous driving systems. By optimizing for societal metrics of traffic such as increased throughput and reduced energy consumption,…

Robustness and safety are critical for the trustworthy deployment of deep reinforcement learning. Real-world decision making applications require algorithms that can guarantee robust performance and safety in the presence of general…

Model predictive control (MPC) is an effective method for controlling robotic systems, particularly autonomous aerial vehicles such as quadcopters. However, application of MPC can be computationally demanding, and typically requires…

Online reinforcement learning is concerned with training an agent on-the-fly via dynamic interaction with the environment. Here, due to the specifics of the application, it is not generally possible to perform long pre-training, as it is…

Fleets of robo-taxis offering on-demand transportation services, commonly known as Autonomous Mobility-on-Demand (AMoD) systems, hold significant promise for societal benefits, such as reducing pollution, energy consumption, and urban…

Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…

Nowadays, autonomous vehicles are gaining traction due to their numerous potential applications in resolving a variety of other real-world challenges. However, developing autonomous vehicles need huge amount of training and testing before…

The transport capacity of a communication network can be characterized by the transition from a free-flow state to a congested state. Here, we propose a dynamic routing strategy in complex networks based on hierarchical bypass selections.…

Autonomous learning has been a promising direction in control and robotics for more than a decade since data-driven learning allows to reduce the amount of engineering knowledge, which is otherwise required. However, autonomous…