相关论文: Deep Reinforcement Learning-based Multi-objective …

In this paper, we propose a novel learning-aided sphere decoding (SD) scheme for large multiple-input--multiple-output systems, namely, deep path prediction-based sphere decoding (DPP-SD). In this scheme, we employ a neural network (NN) to…

In this paper, we introduce an informative path planning (IPP) framework for active classification using unmanned aerial vehicles (UAVs). Our algorithm uses a combination of global viewpoint selection and evolutionary optimization to refine…

Implementing an autonomous vehicle that is able to output feasible, smooth and efficient trajectories is a long-standing challenge. Several approaches have been considered, roughly falling under two categories: rule-based and learning-based…

Implicit neural representations have shown promising potential for the 3D scene reconstruction. Recent work applies it to autonomous 3D reconstruction by learning information gain for view path planning. Effective as it is, the computation…

Deep reinforcement learning (DRL) finds extensive application in autonomous drone navigation within complex, high-risk environments. However, its practical deployment faces a safety-exploration dilemma: soft penalty mechanisms encourage…

Training of deep neural networks (DNNs) frequently involves optimizing several millions or even billions of parameters. Even with modern computing architectures, the computational expense of DNN training can inhibit, for instance, network…

For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…

High-level driving behavior decision-making is an open-challenging problem for connected vehicle technology, especially in heterogeneous traffic scenarios. In this paper, a deep reinforcement learning based high-level driving behavior…

Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…

Path planning, the problem of efficiently discovering high-reward trajectories, often requires optimizing a high-dimensional and multimodal reward function. Popular approaches like CEM and CMA-ES greedily focus on promising regions of the…

We introduce Dynamic Planning Networks (DPN), a novel architecture for deep reinforcement learning, that combines model-based and model-free aspects for online planning. Our architecture learns to dynamically construct plans using a learned…

The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…

There is a growing demand for autonomous mobile robots capable of navigating unstructured agricultural environments. Tasks such as weed control in meadows require efficient path planning through an unordered set of coordinates while…

Geometric methods for solving open-world off-road navigation tasks, by learning occupancy and metric maps, provide good generalization but can be brittle in outdoor environments that violate their assumptions (e.g., tall grass).…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

Motivated by what is required for real-time path planning, the paper starts out by presenting sRMPD, a new recursive "local" planner founded on the key notion that, unless made necessary by an obstacle, there must be no deviation from the…

This paper presents a technique for trajectory planning based on continuously parameterized high-level actions (motion primitives) of variable duration. This technique leverages deep reinforcement learning (Deep RL) to formulate a policy…

Autonomous mobile robots are usually faced with challenging situations when driving in complex environments. Namely, they have to recognize the static and dynamic obstacles, plan the driving path and execute their motion. For addressing the…

Navigating rigid body objects through crowded environments can be challenging, especially when narrow passages are presented. Existing sampling-based planners and optimization-based methods like mixed integer linear programming (MILP)…

Traditional trajectory planning methods for autonomous vehicles have several limitations. For example, heuristic and explicit simple rules limit generalizability and hinder complex motions. These limitations can be addressed using…