相关论文: Imitation Learning-Based Online Time-Optimal Contr…

In this paper, we propose an online learning approach that enables the inverse dynamics model learned for a source robot to be transferred to a target robot (e.g., from one quadrotor to another quadrotor with different mass or aerodynamic…

Data-driven model predictive control (MPC) has demonstrated significant potential for improving robot control performance in the presence of model uncertainties. However, existing approaches often require extensive offline data collection…

Deep neural networks (DNNs), trained with gradient-based optimization and backpropagation, are currently the primary tool in modern artificial intelligence, machine learning, and data science. In many applications, DNNs are trained offline,…

Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this context, distributed co-optimization of both vehicle speed and…

Learning-based methods, particularly Reinforcement Learning (RL), hold great promise for streamlining deployment, enhancing performance, and achieving generalization in the control of autonomous multirotor aerial vehicles. Deep RL has been…

Learning robust navigation policies remains a core challenge in robotics. Offline imitation learning suffers from distribution shift and compounding errors at rollout, while reinforcement learning requires reward engineering and learns…

We consider the task of controlling a quadrotor to hover in front of a freely moving user, using input data from an onboard camera. On this specific task we compare two widespread learning paradigms: a mediated approach, which learns an…

This paper develops and experimentally evaluates a navigation function for quadrotor formation flight that is resilient to abrupt quadrotor failures and other obstacles. The navigation function is based on modeling healthy quadrotors as…

This paper studies the trajectory optimization problem for an aerial vehicle with the mission of flying between a pair of given initial and final locations. The objective is to minimize the travel time of the aerial vehicle ensuring that…

Recently non-linear control methods like Model Predictive Control (MPC) and Reinforcement Learning (RL) have attracted increased interest in the quadrotor control community. In contrast to classic control methods like cascaded PID…

Executing safe and precise flight maneuvers in dynamic high-speed winds is important for the ongoing commoditization of uninhabited aerial vehicles (UAVs). However, because the relationship between various wind conditions and its effect on…

In modern video encoders, rate control is a critical component and has been heavily engineered. It decides how many bits to spend to encode each frame, in order to optimize the rate-distortion trade-off over all video frames. This is a…

In this paper, we present an advanced strategy for the coordinated control of a multi-agent aerospace system, utilizing Deep Neural Networks (DNNs) within a reinforcement learning framework. Our approach centers on optimizing autonomous…

Federated edge learning (FEEL) has recently emerged as a promising paradigm for achieving edge intelligence (EI) via enabling collaborative model training across edge devices while protecting data privacy. In this paper, we put forth an…

Autonomously controlling quadrotors in large-scale subterranean environments is applicable to many areas such as environmental surveying, mining operations, and search and rescue. Learning-based controllers represent an appealing approach…

Obstacle avoidance of quadrotors in dynamic environments is still a very open problem. Current works commonly leverage traditional static maps to represent static obstacles and the detection and tracking of moving objects (DATMO) method to…

This paper proposes a novel methodology for trajectory planning in autonomous vehicles (AVs), addressing the complex challenge of negotiating speed bumps within a unified Mixed-Integer Quadratic Programming (MIQP) framework. By leveraging…

Constrained motion planning is a common but challenging problem in robotic manipulation. In recent years, data-driven constrained motion planning algorithms have shown impressive planning speed and success rate. Among them, the latent…

Model Predictive Control (MPC) has become a popular framework in embedded control for high-performance autonomous systems. However, to achieve good control performance using MPC, an accurate dynamics model is key. To maintain real-time…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…