相关论文: Collision Avoidance and Navigation for a Quadrotor…

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…

This paper presents a reinforcement learning-based quadrotor navigation method that leverages efficient differentiable simulation, novel loss functions, and privileged information to navigate around large obstacles. Prior learning-based…

Deep reinforcement learning (DRL) has emerged as a powerful framework for solving sequential decision-making problems, achieving remarkable success in a wide range of applications, including game AI, autonomous driving, biomedicine, and…

Safe navigation of drones in the presence of adversarial physical attacks from multiple pursuers is a challenging task. This paper proposes a novel approach, asynchronous multi-stage deep reinforcement learning (AMS-DRL), to train…

Although deep reinforcement learning (DRL) algorithms have made important achievements in many control tasks, they still suffer from the problems of sample inefficiency and unstable training process, which are usually caused by sparse…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

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.…

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…

In comparison to common quadrotors, the shape change of morphing quadrotors endows it with a more better flight performance but also results in more complex flight dynamics. Generally, it is extremely difficult or even impossible for…

The rapid advancement of electric vertical takeoff and landing (eVTOL) aircraft offers a promising opportunity to alleviate urban traffic congestion but is still limited by excessive power demands, especially during the takeoff phase. Thus,…

Particle robots are novel biologically-inspired robotic systems where locomotion can be achieved collectively and robustly, but not independently. While its control is currently limited to a hand-crafted policy for basic locomotion tasks,…

Combining data-driven applications with control systems plays a key role in recent Autonomous Car research. This thesis offers a structured review of the latest literature on Deep Reinforcement Learning (DRL) within the realm of autonomous…

Deep reinforcement learning (DRL) has become a powerful tool for complex decision-making in machine learning and AI. However, traditional methods often assume perfect action execution, overlooking the uncertainties and deviations between an…

Deep reinforcement learning (DRL) is a promising approach to solve complex control tasks by learning policies through interactions with the environment. However, the training of DRL policies requires large amounts of training experiences,…

This study presents the first experimental implementation of deep reinforcement learning (DRL) for the active real-time suppression of flow-induced vibrations in simultaneously vibrating tandem cylinders using rotary actuation, considering…

Human decision-making errors cause a majority of globally reported marine accidents. As a result, automation in the marine industry has been gaining more attention in recent years. Obstacle avoidance becomes very challenging for an…

The capacitated location-routing problems (CLRPs) are classical problems in combinatorial optimization, which require simultaneously making location and routing decisions. In CLRPs, the complex constraints and the intricate relationships…

When robots handle navigation tasks while avoiding collisions, they perform in crowded and complex environments not as good as in stable and homogeneous environments. This often results in a low success rate and poor efficiency. Therefore,…

We propose a novel methodology for robotic follow-ahead applications that address the critical challenge of obstacle and occlusion avoidance. Our approach effectively navigates the robot while ensuring avoidance of collisions and occlusions…

The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…