相关论文: Exposure-Based Multi-Agent Inspection of a Tumblin…

Autonomy is a key challenge for future space exploration endeavours. Deep Reinforcement Learning holds the promises for developing agents able to learn complex behaviours simply by interacting with their environment. This paper investigates…

As the number of spacecraft in orbit continues to increase, it is becoming more challenging for human operators to manage each mission. As a result, autonomous control methods are needed to reduce this burden on operators. One method of…

Many real-world tasks involve multiple agents with partial observability and limited communication. Learning is challenging in these settings due to local viewpoints of agents, which perceive the world as non-stationary due to…

Pursuit-evasion is the problem of capturing mobile targets with one or more pursuers. We use deep reinforcement learning for pursuing an omni-directional target with multiple, homogeneous agents that are subject to unicycle kinematic…

In reinforcement learning algorithms, it is a common practice to account for only a single view of the environment to make the desired decisions; however, utilizing multiple views of the environment can help to promote the learning of…

This research proposes a new integrated framework for identifying safe landing locations and planning in-flight divert maneuvers. The state-of-the-art algorithms for landing zone selection utilize local terrain features such as slopes and…

Deploying multiple robots for target search and tracking has many practical applications, yet the challenge of planning over unknown or partially known targets remains difficult to address. With recent advances in deep learning, intelligent…

This paper investigates the problem of on-orbit spacecraft inspection using a single free-flying deputy spacecraft, equipped with an optical sensor, whose controller is a neural network control system trained with Reinforcement Learning…

In reinforcement learning algorithms, leveraging multiple views of the environment can improve the learning of complicated policies. In multi-view environments, due to the fact that the views may frequently suffer from partial…

This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…

Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…

Traditional methods plan feasible paths for multiple agents in the stochastic environment. However, the methods' iterations with the changes in the environment result in computation complexities, especially for the decentralized agents…

The objective of a reinforcement learning agent is to discover better actions through exploration. However, typical exploration techniques aim to maximize rewards, often incurring high costs in both exploration and learning processes. We…

It is common to implicitly assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is itself a major challenge. We address the problem of learning to look around:…

In the tasks of multi-robot collaborative area search, we propose the unified approach for simultaneous mapping for sensing more targets (exploration) while searching and locating the targets (coverage). Specifically, we implement a…

The growing need for autonomous on-orbit services such as inspection, maintenance, and situational awareness calls for intelligent spacecraft capable of complex maneuvers around large orbital targets. Traditional control systems often fall…

This paper introduces a novel semantics-aware inspection planning policy derived through deep reinforcement learning. Reflecting the fact that within autonomous informative path planning missions in unknown environments, it is often only a…

This work presents a Hierarchical Multi-Agent Reinforcement Learning framework for analyzing simulated air combat scenarios involving heterogeneous agents. The objective is to identify effective Courses of Action that lead to mission…

Targets search and detection encompasses a variety of decision problems such as coverage, surveillance, search, observing and pursuit-evasion along with others. In this paper we develop a multi-agent deep reinforcement learning (MADRL)…

In reinforcement learning, we typically refer to unsupervised pre-training when we aim to pre-train a policy without a priori access to the task specification, i.e. rewards, to be later employed for efficient learning of downstream tasks.…