相关论文: Improved Exploration for Safety-Embedded Different…

In this paper, the problem of the trajectory design for a group of energy-constrained drones operating in dynamic wireless network environments is studied. In the considered model, a team of drone base stations (DBSs) is dispatched to…

Activation steering has emerged as a powerful method for guiding the behavior of generative models towards desired outcomes such as toxicity mitigation. However, most existing methods apply interventions uniformly across all inputs,…

This paper investigates secure Directional Modulation (DM) design enhanced by a rotatable active Reconfigurable Intelligent Surface (RIS). In conventional RIS-assisted DM networks, the security performance gain is limited due to the…

For safe and flexible navigation in multi-robot systems, this paper presents an enhanced and predictive sampling-based trajectory planning approach in complex environments, the Gradient Field-based Dynamic Window Approach (GF-DWA). Building…

In this paper, we develop a distributionally robust optimal control approach for differentially private dynamical systems, enabling a plant to securely outsource control computation to an untrusted remote server. We consider a plant that…

Based on the use of different exponential bases to define class-dependent error bounds, a new and highly efficient asymmetric boosting scheme, coined as AdaBoostDB (Double-Base), is proposed. Supported by a fully theoretical derivation…

Temporal difference (TD) learning is a widely used method to evaluate policies in reinforcement learning. While many TD learning methods have been developed in recent years, little attention has been paid to preserving privacy and most of…

Maze navigation is a fundamental challenge in robotics, requiring agents to traverse complex environments efficiently. While the Deep Deterministic Policy Gradient (DDPG) algorithm excels in control tasks, its performance in maze navigation…

To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…

Soft robots have garnered significant attention due to their promising applications across various domains. A hallmark of these systems is their bilayer structure, where strain mismatch caused by differential expansion between layers…

Autonomous mobile agents often operate in hazardous environments, necessitating an awareness of safety. These agents can have non-linear, stochastic dynamics that must be considered during planning to guarantee bounded risk. Most state of…

The imminent integration of autonomous vehicles and mobile robots in urban settings presents a critical safety challenge for future intelligent transportation systems. This paper addresses the complex problem of coordinating heterogeneous…

Reinforcement learning (RL) has achieved promising results on most robotic control tasks. Safety of learning-based controllers is an essential notion of ensuring the effectiveness of the controllers. Current methods adopt whole consistency…

Many real-world decision-theoretic planning problems can be naturally modeled with discrete and continuous state Markov decision processes (DC-MDPs). While previous work has addressed automated decision-theoretic planning for DCMDPs,…

This paper presents a safe feedback control framework for nonlinear control-affine systems with parametric uncertainty by leveraging adaptive dynamic programming (ADP) with barrier-state augmentation. The developed ADP-based controller…

For combinatorial optimization problems, model-based approaches such as mixed-integer programming (MIP) and constraint programming (CP) aim to decouple modeling and solving a problem: the 'holy grail' of declarative problem solving. We…

Autonomous vehicle path following performance is one of significant consideration. This paper presents discrete time design of robust PD controlled system with disturbance observer (DOB) and communication disturbance observer (CDOB)…

Most, if not all, robot navigation systems employ a decomposed planning framework that includes global and local planning. To trade-off onboard computation and plan quality, current systems have to limit all robot dynamics considerations…

This paper presents a new formulation for model-free robust optimal regulation of continuous-time nonlinear systems. The proposed reinforcement learning based approach, referred to as incremental adaptive dynamic programming (IADP),…

Recently, deep reinforcement learning (DRL) has emerged as a promising approach for robotic control. However, the deployment of DRL in real-world robots is hindered by its sensitivity to environmental perturbations. While existing whitebox…