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Deep reinforcement learning (RL) has made it possible to solve complex robotics problems using neural networks as function approximators. However, the policies trained on stationary environments suffer in terms of generalization when…

In this paper, we present a deep reinforcement learning method for quadcopter bypassing the obstacle on the flying path. In the past study, the algorithm only controls the forward direction about quadcopter. In this letter, we use two…

Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…

Agile flights of autonomous quadrotors in cluttered environments require constrained motion planning and control subject to translational and rotational dynamics. Traditional model-based methods typically demand complicated design and heavy…

In this paper, we present a novel developmental reinforcement learning-based controller for a quadcopter with thrust vectoring capabilities. This multirotor UAV design has tilt-enabled rotors. It utilizes the rotor force magnitude and…

How to implement multi-qubit gates efficiently with high precision is essential for realizing universal fault tolerant computing. For a physical system with some external controllable parameters, it is a great challenge to control the time…

In this paper, a deep reinforcement learning (DRL) method is proposed to address the problem of UAV navigation in an unknown environment. However, DRL algorithms are limited by the data efficiency problem as they typically require a huge…

Learning to control robots without requiring engineered models has been a long-term goal, promising diverse and novel applications. Yet, reinforcement learning has only achieved limited impact on real-time robot control due to its high…

This paper aims to examine the potential of using the emerging deep reinforcement learning techniques in flight control. Instead of learning from scratch, we suggest to leverage domain knowledge available in learning to improve learning…

In this paper, we investigate the problem of enabling a drone to fly through a tilted narrow gap, without a traditional planning and control pipeline. To this end, we propose an end-to-end policy network, which imitates from the traditional…

Autonomous indoor navigation of Micro Aerial Vehicles (MAVs) possesses many challenges. One main reason is that GPS has limited precision in indoor environments. The additional fact that MAVs are not able to carry heavy weight or power…

Smart and agile drones are fast becoming ubiquitous at the edge of the cloud. The usage of these drones are constrained by their limited power and compute capability. In this paper, we present a Transfer Learning (TL) based approach to…

This paper proposes a reinforcement learning (RL) framework for controlling and stabilizing the Twin Rotor Aerodynamic System (TRAS) at specific pitch and azimuth angles and tracking a given trajectory. The complex dynamics and non-linear…

While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…

In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…

Autonomous ground vehicle (UGV) navigation has the potential to revolutionize the transportation system by increasing accessibility to disabled people, ensure safety and convenience of use. However, UGV requires extensive and efficient…

Studies that broaden drone applications into complex tasks require a stable control framework. Recently, deep reinforcement learning (RL) algorithms have been exploited in many studies for robot control to accomplish complex tasks.…

Skilled robot task learning is best implemented by predictive action policies due to the inherent latency of sensorimotor processes. However, training such predictive policies is challenging as it involves finding a trajectory of motor…

This study presents a novel reinforcement learning (RL)-based control framework aimed at enhancing the safety and robustness of the quadcopter, with a specific focus on resilience to in-flight one propeller failure. Addressing the critical…

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…