相关论文: AirPilot: Interpretable PPO-based DRL Auto-Tuned N…

Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…

To accomplish various tasks, safe and smooth control of unmanned aerial vehicles (UAVs) needs to be guaranteed, which cannot be met by existing ultra-reliable low latency communications (URLLC). This has attracted the attention of the…

Fixed-wing Unmanned Aerial Vehicles (UAVs) are one of the most commonly used platforms for the burgeoning Low-altitude Economy (LAE) and Urban Air Mobility (UAM), due to their long endurance and high-speed capabilities. Classical obstacle…

In this paper, a deep reinforcement learning (DRL) method is proposed to address the problem of UAV navigation in an unknown environment. However, DRL algorithms are limited by the data efficiency problem as they typically require a huge…

The increasing number of unmanned aerial vehicles (UAVs) in urban environments requires a strategy to minimize their environmental impact, both in terms of energy efficiency and noise reduction. In order to reduce these concerns, novel…

Aerodynamic design optimisation plays a crucial role in improving the performance and efficiency of automotive vehicles. This paper presents a novel approach for aerodynamic optimisation in car design using deep reinforcement learning…

Autonomous drone racing has risen as a challenging robotic benchmark for testing the limits of learning, perception, planning, and control. Expert human pilots are able to fly a drone through a race track by mapping pixels from a single…

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,…

Reinforcement learning is of increasing importance in the field of robot control and simulation plays a~key role in this process. In the unmanned aerial vehicles (UAVs, drones), there is also an increase in the number of published…

The suspension system is a crucial part of the automotive chassis, improving vehicle ride comfort and isolating passengers from rough road excitation. Unlike passive suspension, which has constant spring and damping coefficients, active…

Wind disturbances remain a key barrier to reliable autonomous navigation for lightweight quadrotors, where the rapidly varying airflow can destabilize both planning and tracking. This paper introduces GustPilot, a hierarchical…

Autonomous navigation in unknown complex environment is still a hard problem, especially for small Unmanned Aerial Vehicles (UAVs) with limited computation resources. In this paper, a neural network-based reactive controller is proposed for…

Mastering autonomous drone landing on dynamic platforms presents formidable challenges due to unpredictable velocities and external disturbances caused by the wind, ground effect, turbines or propellers of the docking platform. This study…

Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…

The paper presents a technique using reinforcement learning (RL) to adapt the control gains of a quadcopter controller. Specifically, we employed Proximal Policy Optimization (PPO) to train a policy which adapts the gains of a cascaded…

Proportional-Integrator-Derivative (PID) controller is used in a wide range of industrial and experimental processes. There are a couple of offline methods for tuning PID gains. However, due to the uncertainty of model parameters and…

Deep reinforcement learning (DRL) is one of the promising approaches for introducing robots into complicated environments. The recent remarkable progress of DRL stands on regularization of policy, which allows the policy to improve stably…

While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…

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…

The controller is one of the most important modules in the autonomous driving pipeline, ensuring the vehicle reaches its desired position. In this work, a reinforcement learning based lateral control approach, despite the imperfections in…