相关论文: Trajectory Tracking Using Frenet Coordinates with …

In this paper, we investigate joint vehicle association and multi-dimensional resource management in a vehicular network assisted by multi-access edge computing (MEC) and unmanned aerial vehicle (UAV). To efficiently manage the available…

This paper tackles the challenge of learning non-Markovian optimal execution strategies in dynamic financial markets. We introduce a novel actor-critic algorithm based on Deep Deterministic Policy Gradient (DDPG) to address this issue, with…

Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…

Trajectory prediction is a critical functionality of autonomous systems that share environments with uncontrolled agents, one prominent example being self-driving vehicles. Currently, most prediction methods do not enforce scene…

This paper presents a novel approach using sensitivity analysis for generalizing Differential Dynamic Programming (DDP) to systems characterized by implicit dynamics, such as those modelled via inverse dynamics and variational or implicit…

We study a reinforcement learning setting, where the state transition function is a convex combination of a stochastic continuous function and a deterministic function. Such a setting generalizes the widely-studied stochastic state…

In this paper, we investigate the obstacle avoidance and navigation problem in the robotic control area. For solving such a problem, we propose revised Deep Deterministic Policy Gradient (DDPG) and Proximal Policy Optimization algorithms…

To accurately predict future positions of different agents in traffic scenarios is crucial for safely deploying intelligent autonomous systems in the real-world environment. However, it remains a challenge due to the behavior of a target…

In reinforcement learning, reward shaping is an efficient way to guide the learning process of an agent, as the reward can indicate the optimal policy of the task. The potential-based reward shaping framework was proposed to guarantee…

Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. There are several types of driving mechanisms for real-world…

In this paper, we employ multiple wireless-powered relays to assist information transmission from a multi-antenna access point to a single-antenna receiver. The wireless relays can operate in either the passive mode via backscatter…

Differential dynamic programming (DDP) is a widely used and powerful trajectory optimization technique, however, due to its internal structure, it is not exempt from local minima. In this paper, we present Differential Dynamic Programming…

The coordination of large-scale, decentralised systems, such as a fleet of Electric Vehicles (EVs) in a Vehicle-to-Grid (V2G) network, presents a significant challenge for modern control systems. While collaborative Digital Twins have been…

Reach-Avoid-Stay (RAS) optimal control enables systems such as robots and air taxis to reach their targets, avoid obstacles, and stay near the target. However, current methods for RAS often struggle with handling complex, dynamic…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

The performance of off-policy learning, including deep Q-learning and deep deterministic policy gradient (DDPG), critically depends on the choice of the exploration policy. Existing exploration methods are mostly based on adding noise to…

Target tracking in unknown real-world environments in the presence of obstacles and target motion uncertainty demand agents to develop an intrinsic understanding of the environment in order to predict the suitable actions to be taken at…

This paper introduces DiffTORI, which utilizes Differentiable Trajectory Optimization as the policy representation to generate actions for deep Reinforcement and Imitation learning. Trajectory optimization is a powerful and widely used…

This paper proposes a novel model-based policy gradient algorithm for tracking dynamic targets using a mobile robot, equipped with an onboard sensor with limited field of view. The task is to obtain a continuous control policy for the…

Maneuverability and drivability of the teleoperated ground vehicle could be seriously degraded by large communication delays if the delays are not properly compensated. This paper proposes a predicted trajectory guidance control (PTGC)…