相关论文: Guidance Design for Escape Flight Vehicle Using Ev…

Missiles pose a major threat to aircraft in modern air combat. Advances in technology make them increasingly difficult to detect until they are close to the target and highly resistant to jamming. The evasion maneuver is the last line of…

Collision-free motion is essential for mobile robots. Most approaches to collision-free and efficient navigation with wheeled robots require parameter tuning by experts to obtain good navigation behavior. This study investigates the…

The increasing demand for autonomous systems in complex and dynamic environments has driven significant research into intelligent path planning methodologies. For decades, graph-based search algorithms, linear programming techniques, and…

Powered descent guidance (PDG) problems subject to six-degrees-of-freedom (6DOF) dynamics allow for enforcement of practical attitude constraints. However, numerical solutions to 6DOF PDG problems are challenging due to fast rotational…

Reinforcement learning for control over continuous spaces typically uses high-entropy stochastic policies, such as Gaussian distributions, for local exploration and estimating policy gradient to optimize performance. Many robotic control…

High-speed online trajectory planning for UAVs poses a significant challenge due to the need for precise modeling of complex dynamics while also being constrained by computational limitations. This paper presents a multi-fidelity…

This work proposes a unified control architecture that couples a Reinforcement Learning (RL)-driven controller with a disturbance-rejection Extended State Observer (ESO), complemented by an Event-Triggered Mechanism (ETM) to limit…

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…

Mastering deep reinforcement learning (DRL) proves challenging in tasks featuring scant rewards. These limited rewards merely signify whether the task is partially or entirely accomplished, necessitating various exploration actions before…

We study the problem of training and fine-tuning expressive policies with online reinforcement learning (RL) given an offline dataset. Training expressive policy classes with online RL present a unique challenge of stable value…

In contemporary autonomous driving testing, virtual simulation has become an important approach due to its efficiency and cost effectiveness. However, existing methods usually rely on reinforcement learning to generate risky scenarios,…

Near future air taxi operations with electric vertical take-off and landing (eVTOL) aircraft will be constrained by the need for frequent recharging of eVTOLs, limited takeoff and landing pads in vertiports, and subject to time-varying…

Existing local dynamic route planning algorithms, when directly applied to terrain following/terrain avoidance, or dynamic obstacle avoidance for large and medium-sized fixed-wing aircraft, fail to simultaneously meet the requirements of…

Post-training techniques combined with inference-time scaling significantly enhance the reasoning and alignment capabilities of large language models (LLMs). However, a fundamental tension arises: inference-time methods benefit from diverse…

This paper investigates the problem of impact-time-control and proposes a learning-based computational guidance algorithm to solve this problem. The proposed guidance algorithm is developed based on a general prediction-correction concept:…

This work quantitatively evaluates the performance of event-based vision systems (EVS) against conventional RGB-based models for action prediction in collision avoidance on an FPGA accelerator. Our experiments demonstrate that the EVS model…

With the development of human space exploration, the space environment is gradually filled with abandoned satellite debris and unknown micrometeorites, which will seriously affect capture motion of space robot. Hence, a novel fast…

Autonomous navigation is a fundamental task for robot vacuum cleaners in indoor environments. Since their core function is to clean entire areas, robots inevitably encounter dead zones in cluttered and narrow scenarios. Existing planning…

In this paper, we investigate preference-based reinforcement learning (PbRL), which enables reinforcement learning (RL) agents to learn from human feedback. This is particularly valuable when defining a fine-grain reward function is not…

Deep reinforcement learning (DRL) algorithms and evolution strategies (ES) have been applied to various tasks, showing excellent performances. These have the opposite properties, with DRL having good sample efficiency and poor stability,…