相关论文: Evolving R2 to R2+: Optimal, Delayed Line-of-sight…

We present a Reinforcement Learning (RL) solution to the view planning problem (VPP), which generates a sequence of view points that are capable of sensing all accessible area of a given object represented as a 3D model. In doing so, the…

Computing worst-case robust strategies in pursuit-evasion games (PEGs) is time-consuming, especially when real-world factors like partial observability are considered. While important for general security purposes, real-time applicable…

State-of-the-art multimodal journey-planning algorithms, such as ULTRA, have recently been adapted to account for delays. In this work, we extend this approach to be more memory-efficient, faster, and accurate. We also adapt this framework…

Decentralized planning for multi-agent systems, such as fleets of robots in a search-and-rescue operation, is often constrained by limitations on how agents can communicate with each other. One such limitation is the case when agents can…

Hierarchical, multi-resolution volumetric mapping approaches are widely used to represent large and complex environments as they can efficiently capture their occupancy and connectivity information. Yet widely used path planning methods…

Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…

Autonomous inspection tasks necessitate path-planning algorithms to efficiently gather observations from points of interest (POI). However, localization errors commonly encountered in urban environments can introduce execution uncertainty,…

In this paper we propose MA-DV2F: Multi-Agent Dynamic Velocity Vector Field. It is a framework for simultaneously controlling a group of vehicles in challenging environments. DV2F is generated for each vehicle independently and provides a…

We train embodied neural networks to plan and navigate unseen complex 3D environments, emphasising real-world deployment. Rather than requiring prior knowledge of the agent or environment, the planner learns to model the state transitions…

This paper gives a new solution to the output feedback H2 problem for quadratically invariant communication delay patterns. A characterization of all stabilizing controllers satisfying the delay constraints is given and the decentralized H2…

Choosing an appropriate optimization algorithm is essential to achieving success in optimization challenges. Here we present a new evolutionary algorithm structure that utilizes a reinforcement learning-based agent aimed at addressing these…

The labeled MRPP (Multi-Robot Path Planning) problem involves routing robots from start to goal configurations efficiently while avoiding collisions. Despite progress in solution quality and runtime, its complexity and industrial relevance…

Deep reinforcement learning (DRL) allows a system to interact with its environment and take actions by training an efficient policy that maximizes self-defined rewards. In autonomous driving, it can be used as a strategy for high-level…

This paper addresses the challenging problem of robust path-following for fixed-wing unmanned aerial vehicles (UAVs) in complex environments with bounded external disturbances and non-smooth predefined paths. Due to the unique aerodynamic…

Most deep reinforcement learning (RL) algorithms distill experience into parametric behavior policies or value functions via gradient updates. While effective, this approach has several disadvantages: (1) it is computationally expensive,…

Despite the promising results, existing oriented object detection methods usually involve heuristically designed rules, e.g., RRoI generation, rotated NMS. In this paper, we propose an end-to-end framework for oriented object detection,…

Object detection has been one of the most active topics in computer vision for the past years. Recent works have mainly focused on pushing the state-of-the-art in the general-purpose COCO benchmark. However, the use of such detection…

We describe a duality mapping between STRIPS planning tasks. By exchanging the initial and goal conditions, taking their respective complements, and swapping for every action its precondition and delete list, one obtains for every STRIPS…

Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…

Multi-Robot Path Planning (MRPP) on graphs, equivalently known as Multi-Agent Path Finding (MAPF), is a well-established NP-hard problem with critically important applications. As serial computation in (near)-optimally solving MRPP…