相关论文: Autonomous Blimp Control via H-infinity Robust Dee…

This paper presents a hybrid approach that integrates trajectory optimization (TO) and reinforcement learning (RL) for motion planning and control of free-flying multi-arm robots in on-orbit servicing scenarios. The proposed system…

We present a deep reinforcement learning (deep RL) algorithm that consists of learning-based motion planning and imitation to tackle challenging control problems. Deep RL has been an effective tool for solving many high-dimensional…

Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…

This paper presents a risk-aware safe reinforcement learning (RL) control design for stochastic discrete-time linear systems. Rather than using a safety certifier to myopically intervene with the RL controller, a risk-informed safe…

Learning a controller directly on the robot requires extreme sample efficiency. Model-based reinforcement learning (RL) methods are the most sample efficient, but they often suffer from a too long inference time to meet the robot control…

Wind resistance control is an essential feature for quadcopters to maintain their position to avoid deviation from target position and prevent collisions with obstacles. Conventionally, cascaded PID controller is used for the control of…

The economic feasibility of nuclear microreactors will depend on minimizing operating costs through advancements in autonomous control, especially when these microreactors are operating alongside other types of energy systems (e.g.,…

Robust control of mechanical systems with multiple uncertainties remains a fundamental challenge, particularly when nonlinear dynamics and operating-condition variations are intricately intertwined. Although deep reinforcement learning…

Contemporary autopilot systems for unmanned aerial vehicles (UAVs) are far more limited in their flight envelope as compared to experienced human pilots, thereby restricting the conditions UAVs can operate in and the types of missions they…

There have been attempts in reinforcement learning to exploit a priori knowledge about the structure of the system. This paper proposes a hybrid reinforcement learning controller which dynamically interpolates a model-based linear…

The ability to recover from a fall is an essential feature for a legged robot to navigate in challenging environments robustly. Until today, there has been very little progress on this topic. Current solutions mostly build upon…

Deep Reinforcement Learning (DRL) for quadrotor flight control typically relies on Domain Randomization (DR) for sim-to-real transfer, resulting in overly conservative policies that struggle with dynamic disturbances. To overcome this, we…

Today's heavy-duty mobile machines (HDMMs) face two transitions: from diesel-hydraulic actuation to clean electric systems driven by climate goals, and from human supervision toward greater autonomy. Diesel-hydraulic systems have long…

Quadruped robots require robust and general locomotion skills to exploit their mobility potential in complex and challenging environments. In this work, we present the first implementation of a robust end-to-end learning-based controller on…

This work proposes a control-informed reinforcement learning (CIRL) framework that integrates proportional-integral-derivative (PID) control components into the architecture of deep reinforcement learning (RL) policies. The proposed…

In this paper, we address the issue of increasing the performance of reinforcement learning (RL) solutions for autonomous racing cars when navigating under conditions where practical vehicle modelling errors (commonly known as \emph{model…

Reinforcement Learning (RL) has recently impressed the world with stunning results in various applications. While the potential of RL is now well-established, many critical aspects still need to be tackled, including safety and stability…

As power systems are undergoing a significant transformation with more uncertainties, less inertia and closer to operation limits, there is increasing risk of large outages. Thus, there is an imperative need to enhance grid emergency…

Deep Reinforcement Learning (DRL) has been applied successfully to many robotic applications. However, the large number of trials needed for training is a key issue. Most of existing techniques developed to improve training efficiency (e.g.…

The paradigm shift in the electric power grid necessitates a revisit of existing control methods to ensure the grid's security and resilience. In particular, the increased uncertainties and rapidly changing operational conditions in power…