相关论文: Spatial-Aware Deep Reinforcement Learning for the …
Existing neural methods for the Travelling Salesman Problem (TSP) mostly aim at finding a single optimal solution. To discover diverse yet high-quality solutions for Multi-Solution TSP (MSTSP), we propose a novel deep reinforcement learning…
The optimal way for a deep reinforcement learning (DRL) agent to explore is to learn a set of skills that achieves a uniform distribution of states. Following this,we introduce DisTop, a new model that simultaneously learns diverse skills…
Navigating urban environments represents a complex task for automated vehicles. They must reach their goal safely and efficiently while considering a multitude of traffic participants. We propose a modular decision making algorithm to…
Ramp merging is a critical maneuver for road safety and traffic efficiency. Most of the current automated driving systems developed by multiple automobile manufacturers and suppliers are typically limited to restricted access freeways only.…
Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work…
In this paper, we study the application of DRL algorithms in the context of local navigation problems, in which a robot moves towards a goal location in unknown and cluttered workspaces equipped only with limited-range exteroceptive…
Electric Vehicle (EV) has become a preferable choice in the modern transportation system due to its environmental and energy sustainability. However, in many large cities, EV drivers often fail to find the proper spots for charging, because…
We propose a method to tackle the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective while social-safety to…
In many scientific and engineering problems, noise and nonlinearity are unavoidable, which could induce interesting mathematical problem such as transition phenomena. This paper focuses on efficiently discovering the most probable…
Unmanned Aerial Vehicles (UAVs) are suited as cost-effective and adaptable platforms for carrying Wi-Fi Access Points (APs) and cellular Base Stations (BSs). Implementing aerial networks in disaster management scenarios and crowded areas…
Using an enhanced Self-Organizing Map method, we provided suboptimal solutions to the Traveling Salesman Problem. Besides, we employed hyperparameter tuning to identify the most critical features in the algorithm. All improvements in the…
Investigation of detailed and complex optimisation problem formulations that reflect realistic scenarios is a burgeoning field of research. A growing body of work exists for the Travelling Thief Problem, including multi-objective…
Determining multi-robot motion policies for persistently monitoring a region with limited sensing, communication, and localization constraints in non-GPS environments is a challenging problem. To take the localization constraints into…
In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…
Countries with access to large bodies of water often aim to protect their maritime transport by employing maritime surveillance systems. However, the number of available sensors (e.g., cameras) is typically small compared to the…
Target following in dynamic pedestrian environments is an important task for mobile robots. However, it is challenging to keep tracking the target while avoiding collisions in crowded environments, especially with only one robot. In this…
The paper focuses on designing a controller for unknown dynamical multi-agent systems to achieve temporal reach-avoid-stay tasks for each agent while preventing inter-agent collisions. The main objective is to generate a spatiotemporal tube…
Deep reinforcement learning has shown promise in various engineering applications, including vehicular traffic control. The non-stationary nature of traffic, especially in the lane-free environment with more degrees of freedom in vehicle…
Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…
Despite great strides in language-guided manipulation, existing work has been constrained to table-top settings. Table-tops allow for perfect and consistent camera angles, properties are that do not hold in mobile manipulation. Task plans…