相关论文: HDPlanner: Advancing Autonomous Deployments in Unk…

The navigation problem is classically approached in two steps: an exploration step, where map-information about the environment is gathered; and an exploitation step, where this information is used to navigate efficiently. Deep…

Deep reinforcement learning (DRL) has become a dominant deep-learning paradigm for tasks where complex policies are learned within reactive systems. Unfortunately, these policies are known to be susceptible to bugs. Despite significant…

Multi-robot navigation is a challenging task in which multiple robots must be coordinated simultaneously within dynamic environments. We apply deep reinforcement learning (DRL) to learn a decentralized end-to-end policy which maps raw…

Exploiting unmanned aerial vehicles (UAVs) to execute tasks is gaining growing popularity recently. To solve the underlying task scheduling problem, the deep reinforcement learning (DRL) based methods demonstrate notable advantage over the…

Deep reinforcement learning (DRL) demonstrates its potential in learning a model-free navigation policy for robot visual navigation. However, the data-demanding algorithm relies on a large number of navigation trajectories in training.…

We argue that inventory management presents unique opportunities for the reliable application of deep reinforcement learning (DRL). To enable this, we emphasize and test two complementary techniques. The first is Hindsight Differentiable…

Autonomous mobile robots are increasingly used in pedestrian-rich environments where safe navigation and appropriate human interaction are crucial. While Deep Reinforcement Learning (DRL) enables socially integrated robot behavior,…

Unmanned Aerial Vehicles (UAVs) are increasingly essential in various fields such as surveillance, reconnaissance, and telecommunications. This study aims to develop a learning algorithm for the path planning of UAV wireless communication…

Order picking is a pivotal operation in warehouses that directly impacts overall efficiency and profitability. This study addresses the dynamic order picking problem, a significant concern in modern warehouse management, where real-time…

Robot navigation using deep reinforcement learning (DRL) has shown great potential in improving the performance of mobile robots. Nevertheless, most existing DRL-based navigation methods primarily focus on training a policy that directly…

Collision-free motion planning for redundant robot manipulators in complex environments is yet to be explored. Although recent advancements at the intersection of deep reinforcement learning (DRL) and robotics have highlighted its potential…

Deep reinforcement learning (DRL) faces significant challenges in addressing the hard-exploration problems in tasks with sparse or deceptive rewards and large state spaces. These challenges severely limit the practical application of DRL.…

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…

For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a…

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…

Mobile robots are being used on a large scale in various crowded situations and become part of our society. The socially acceptable navigation behavior of a mobile robot with individual human consideration is an essential requirement for…

This work pushes the boundaries of learning-based methods in autonomous robot exploration in terms of environmental scale and exploration efficiency. We present HEADER, an attention-based reinforcement learning approach with hierarchical…

Distance-based reward mechanisms in deep reinforcement learning (DRL) navigation systems suffer from critical safety limitations in dynamic environments, frequently resulting in collisions when visibility is restricted. We propose DRL-NSUO,…

Autonomous Mobile Robot (AMR) navigation in dynamic environments that may be GPS denied, without a-priori maps, is an unsolved problem with potential to improve humanity's capabilities. Conventional modular methods are computationally…

Deep reinforcement learning (DRL) finds extensive application in autonomous drone navigation within complex, high-risk environments. However, its practical deployment faces a safety-exploration dilemma: soft penalty mechanisms encourage…