相关论文: Implementing TD3 to train a Neural Network to fly …
We apply Deep Q-network (DQN) with the consideration of safety during the task for deciding whether to conduct the maneuver. Furthermore, we design two similar Deep Q learning frameworks with quadratic approximator for deciding how to…
Autonomous driving decision-making is a great challenge due to the complexity and uncertainty of the traffic environment. Combined with the rule-based constraints, a Deep Q-Network (DQN) based method is applied for autonomous driving lane…
Neural networks are effective function approximators, but hard to train in the reinforcement learning (RL) context mainly because samples are correlated. For years, scholars have got around this by employing experience replay or an…
The growing threat of low-cost kamikaze drone swarms poses a critical challenge to modern defense systems demanding rapid and strategic decision-making to prioritize interceptions across multiple effectors and high-value target zones. In…
The growing deployment of drones in a myriad of applications relies on seamless and reliable wireless connectivity for safe control and operation of drones. Cellular technology is a key enabler for providing essential wireless services to…
Two less addressed issues of deep reinforcement learning are (1) lack of generalization capability to new target goals, and (2) data inefficiency i.e., the model requires several (and often costly) episodes of trial and error to converge,…
The rise of microgrid-based architectures is heavily modifying the energy control landscape in distribution systems making distributed control mechanisms necessary to ensure reliable power system operations. In this paper, we propose the…
Communication networks able to withstand hostile environments are critically important for disaster relief operations. In this paper, we consider a challenging scenario where drones have been compromised in the supply chain, during their…
Deep reinforcement learning for high dimensional, hierarchical control tasks usually requires the use of complex neural networks as functional approximators, which can lead to inefficiency, instability and even divergence in the training…
Deep Reinforcement Learning (DRL) has been successfully used to solve different challenges, e.g. complex board and computer games, recently. However, solving real-world robotics tasks with DRL seems to be a more difficult challenge. The…
In the last decade, data-driven approaches have become popular choices for quadrotor control, thanks to their ability to facilitate the adaptation to unknown or uncertain flight conditions. Among the different data-driven paradigms, Deep…
The task of intercepting a target moving along a rectilinear or circular trajectory by a Dubins' car is formulated as a time-optimal control problem with an arbitrary direction of the car's velocity at the interception moment. To solve this…
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…
This paper introduces a machine learning based system for controlling a robotic manipulator with visual perception only. The capability to autonomously learn robot controllers solely from raw-pixel images and without any prior knowledge of…
This paper presents the first end-to-end framework that combines guidance, navigation, and centralised task allocation for multiple UAVs performing autonomous search-and-rescue (SAR) in GNSS-denied indoor environments. A Twin Delayed Deep…
Deep neural networks (DNNs) are increasingly being used in autonomous systems. However, DNNs do not generalize well to domain shift. Adapting to a continuously evolving environment is a safety-critical challenge inevitably faced by all…
Traversing narrow gates presents a significant challenge and has become a standard benchmark for evaluating agile and precise quadrotor flight. Traditional modularized autonomous flight stacks require extensive design and parameter tuning,…
Deep reinforcement learning is an emerging machine learning approach which can teach a computer to learn from their actions and rewards similar to the way humans learn from experience. It offers many advantages in automating decision…
This paper deploys the Deep Deterministic Policy Gradient (DDPG) algorithm for longitudinal and lateral control of a simulated car to solve a path following task. The DDPG agent was implemented using PyTorch and trained and evaluated on a…
Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…