相关论文: RESC: A Reinforcement Learning Based Search-to-Con…

The role of a motion planner is pivotal in quadrotor applications, yet existing methods often struggle to adapt to complex environments, limiting their ability to achieve fast, safe, and robust flight. In this letter, we introduce a…

Unmanned Aerial Vehicles (UAVs) increasingly enhance the Quality of Service (QoS) in wireless networks due to their flexibility and cost-effectiveness. However, optimizing UAV placement in dynamic, obstacle-prone environments remains a…

This paper presents a review of the design and application of model predictive control strategies for Micro Aerial Vehicles and specifically multirotor configurations such as quadrotors. The diverse set of works in the domain is organized…

Unmapped areas and aerodynamic disturbances render autonomous navigation with quadrotors extremely challenging. To fly safely and efficiently, trajectory planners and trackers must be able to navigate unknown environments with unpredictable…

Over the past few years, the use of swarms of Unmanned Aerial Vehicles (UAVs) in monitoring and remote area surveillance applications has become widespread thanks to the price reduction and the increased capabilities of drones. The drones…

Trajectory planning is vital for autonomous driving, ensuring safe and efficient navigation in complex environments. While recent learning-based methods, particularly reinforcement learning (RL), have shown promise in specific scenarios, RL…

We approach the task of network congestion control in datacenters using Reinforcement Learning (RL). Successful congestion control algorithms can dramatically improve latency and overall network throughput. Until today, no such…

Traversing through a tilted narrow gap is previously an intractable task for reinforcement learning mainly due to two challenges. First, searching feasible trajectories is not trivial because the goal behind the gap is difficult to reach.…

The intelligent reflection surface (IRS) and unmanned aerial vehicle (UAV)-assisted mobile edge computing (MEC) system is widely used in temporary and emergency scenarios. Our goal is to minimize the energy consumption of the MEC system by…

Ensuring reliability in modern software systems requires rigorous pre-production testing across highly heterogeneous and evolving environments. Because exhaustive evaluation is infeasible, practitioners must decide how to allocate limited…

In this paper, we present a hierarchical path planning framework called SG-RL (subgoal graphs-reinforcement learning), to plan rational paths for agents maneuvering in continuous and uncertain environments. By "rational", we mean (1)…

This paper presents a technique for trajectory planning based on continuously parameterized high-level actions (motion primitives) of variable duration. This technique leverages deep reinforcement learning (Deep RL) to formulate a policy…

Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…

We propose an efficient motion planning method designed to efficiently find collision-free trajectories for multiple manipulators. While multi-manipulator systems offer significant advantages, coordinating their motions is computationally…

Model predictive control (MPC) is widely used for motion planning, particularly in autonomous driving. Real-time capability of the planner requires utilizing convex approximation of optimal control problems (OCPs) for the planner. However,…

Reinforcement learning (RL) has been successfully applied to a variety of robotics applications, where it outperforms classical methods. However, the safety aspect of RL and the transfer to the real world remain an open challenge. A…

This paper presents a model-free reinforcement learning (RL) algorithm to solve the risk-averse optimal control (RAOC) problem for discrete-time nonlinear systems. While successful RL algorithms have been presented to learn optimal control…

Multi-UAV pursuit-evasion, where pursuers aim to capture evaders, poses a key challenge for UAV swarm intelligence. Multi-agent reinforcement learning (MARL) has demonstrated potential in modeling cooperative behaviors, but most RL-based…

Approximate Computing (AxC) techniques have become increasingly popular in trading off accuracy for performance gains in various applications. Selecting the best AxC techniques for a given application is challenging. Among proposed…

Reinforcement learning (RL) has demonstrated the ability to maintain the plasticity of the policy throughout short-term training in aerial robot control. However, these policies have been shown to loss of plasticity when extended to…