相关论文: Multi-Fidelity Reinforcement Learning for Time-Opt…

This paper proposes the Phy-DRL: a physics-regulated deep reinforcement learning (DRL) framework for safety-critical autonomous systems. The Phy-DRL has three distinguished invariant-embedding designs: i) residual action policy (i.e.,…

Learning in multi-agent systems is highly challenging due to several factors including the non-stationarity introduced by agents' interactions and the combinatorial nature of their state and action spaces. In particular, we consider the…

A critical bottleneck in deep reinforcement learning (DRL) is sample inefficiency, as training high-performance agents often demands extensive environmental interactions. Model-based reinforcement learning (MBRL) mitigates this by building…

Two current methods used to train autonomous cars are reinforcement learning and imitation learning. This research develops a new learning methodology and systematic approach in both a simulated and a smaller real world environment by…

Autonomous vehicles need to handle various traffic conditions and make safe and efficient decisions and maneuvers. However, on the one hand, a single optimization/sampling-based motion planner cannot efficiently generate safe trajectories…

Estimating probability of failure in aerospace systems is a critical requirement for flight certification and qualification. Failure probability estimation involves resolving tails of probability distribution, and Monte Carlo sampling…

Multi-robot target tracking is a fundamental problem that requires coordinated monitoring of dynamic entities in applications such as precision agriculture, environmental monitoring, disaster response, and security surveillance. While…

Deep reinforcement learning has emerged as a promising and powerful technique for automatically acquiring control policies that can process raw sensory inputs, such as images, and perform complex behaviors. However, extending deep RL to…

This paper tackles the challenge of learning a generalizable minimum-time flight policy for UAVs, capable of navigating between arbitrary start and goal states while balancing agile flight and stable hovering. Traditional approaches,…

Model-based reinforcement learning (MBRL) typically relies on modeling environment dynamics for data efficiency. However, due to the accumulation of model errors over long-horizon rollouts, such methods often face challenges in maintaining…

This study presents a novel reinforcement learning (RL)-based control framework aimed at enhancing the safety and robustness of the quadcopter, with a specific focus on resilience to in-flight one propeller failure. Addressing the critical…

We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL…

Attitude control of a novel regional truss-braced wing aircraft with low stability characteristics is addressed in this paper using Reinforcement Learning (RL). In recent years, RL has been increasingly employed in challenging applications,…

Multitask Representation Learning (MRL) has emerged as a prevalent technique to improve sample efficiency in Reinforcement Learning (RL). Empirical studies have found that training agents on multiple tasks simultaneously within online and…

Many challenging real-world problems require the deployment of ensembles multiple complementary learning models to reach acceptable performance levels. While effective, applying the entire ensemble to every sample is costly and often…

This paper investigates the application of Deep Reinforcement (DRL) Learning to address motion control challenges in drones for additive manufacturing (AM). Drone-based additive manufacturing promises flexible and autonomous material…

Decision-making in military aviation Prognostics and Health Management (PHM) faces significant challenges due to the "curse of dimensionality" in large-scale fleet operations, combined with sparse feedback and stochastic mission profiles.…

Sample efficiency is critical in solving real-world reinforcement learning problems, where agent-environment interactions can be costly. Imitation learning from expert advice has proved to be an effective strategy for reducing the number of…

While multifidelity modeling provides a cost-effective way to conduct uncertainty quantification with computationally expensive models, much greater efficiency can be achieved by adaptively deciding the number of required high-fidelity (HF)…

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…