相关论文: Sim-to-Real Deep Reinforcement Learning based Obst…

Since deep neural networks' resurgence, reinforcement learning has gradually strengthened and surpassed humans in many conventional games. However, it is not easy to copy these accomplishments to autonomous driving because state spaces are…

Unmanned Ariel Vehicle (UAV) services with 5G connectivity is an emerging field with numerous applications. Operator-controlled UAV flights and manual static flight configurations are major limitations for the wide adoption of scalability…

Autonomous driving has been at the forefront of public interest, and a pivotal debate to widespread concerns is safety in the transportation system. Deep reinforcement learning (DRL) has been applied to autonomous driving to provide…

Deep Reinforcement Learning (DRL) enables cognitive Autonomous Ground Vehicle (AGV) navigation utilizing raw sensor data without a-priori maps or GPS, which is a necessity in hazardous, information poor environments such as regions where…

Our research investigates the challenges Deep Reinforcement Learning (DRL) faces in complex, Partially Observable Markov Decision Processes (POMDP) such as autonomous driving (AD), and proposes a solution for vision-based navigation in…

This study investigates how navigation uncertainty affects conflict detection and resolution (CD&R) for uncrewed aircraft in U-space. Position and velocity errors are modelled as zero-mean Gaussian noise consistent with ADS-L accuracy, and…

Exploiting unmanned aerial vehicles (UAVs) to execute tasks is gaining growing popularity recently. To solve the underlying task scheduling problem, the deep reinforcement learning (DRL) based methods demonstrate notable advantage over the…

Autonomous navigation in unstructured environments is essential for field and planetary robotics, where robots must efficiently reach goals while avoiding obstacles under uncertain conditions. Conventional algorithmic approaches often…

Deep Learning (DL) has made remarkable achievements in computer vision and adopted in safety critical domains such as medical imaging or autonomous drive. Thus, it is necessary to understand the uncertainty of the model to effectively…

This review addresses the problem of learning abstract representations of the measurement data in the context of Deep Reinforcement Learning (DRL). While the data are often ambiguous, high-dimensional, and complex to interpret, many…

In this paper, we develop a safe decision-making method for self-driving cars in a multi-lane, single-agent setting. The proposed approach utilizes deep reinforcement learning (RL) to achieve a high-level policy for safe tactical…

Real-time path planning in constrained environments remains a fundamental challenge for autonomous systems. Traditional classical planners, while effective under perfect perception assumptions, are often sensitive to real-world perception…

Learning-based adaptive control methods hold the premise of enabling autonomous agents to reduce the effect of process variations with minimal human intervention. However, its application to autonomous underwater vehicles (AUVs) has so far…

Reinforcement Learning (RL) has proven largely effective in obtaining stable locomotion gaits for legged robots. However, designing control algorithms which can robustly navigate unseen environments with obstacles remains an ongoing problem…

Deep reinforcement learning (RL) approaches have been broadly applied to a large number of robotics tasks, such as robot manipulation and autonomous driving. However, an open problem in deep RL is learning policies that are robust to…

Autonomous lane changing is a critical feature for advanced autonomous driving systems, that involves several challenges such as uncertainty in other driver's behaviors and the trade-off between safety and agility. In this work, we develop…

A sudden roadblock on highways due to many reasons such as road maintenance, accidents, and car repair is a common situation we encounter almost daily. Autonomous Vehicles (AVs) equipped with sensors that can acquire vehicle dynamics such…

Deep reinforcement learning (DRL) has gained widespread adoption in control and decision-making tasks due to its strong performance in dynamic environments. However, DRL agents are vulnerable to noisy observations and adversarial attacks,…

A key factor for ensuring safety in Autonomous Vehicles (AVs) is to avoid any abnormal behaviors under undesirable and unpredicted circumstances. As AVs increasingly rely on Deep Neural Networks (DNNs) to perform safety-critical tasks,…

The advent of fifth generation (5G) networks has opened new avenues for enhancing connectivity, particularly in challenging environments like remote areas or disaster-struck regions. Unmanned aerial vehicles (UAVs) have been identified as a…