相关论文: Beyond Visibility Limits: A DRL-Based Navigation S…

Deep reinforcement learning (DRL) has achieved groundbreaking successes in a wide variety of robotic applications. A natural consequence is the adoption of this paradigm for safety-critical tasks, where human safety and expensive hardware…

Autonomous driving in urban crowds at unregulated intersections is challenging, where dynamic occlusions and uncertain behaviors of other vehicles should be carefully considered. Traditional methods are heuristic and based on…

Autonomous navigation in offroad environments has been extensively studied in the robotics field. However, navigation in covert situations where an autonomous vehicle needs to remain hidden from outside observers remains an underexplored…

Collision-free motion is essential for mobile robots. Most approaches to collision-free and efficient navigation with wheeled robots require parameter tuning by experts to obtain good navigation behavior. This study investigates the…

An exciting and promising frontier for Deep Reinforcement Learning (DRL) is its application to real-world robotic systems. While modern DRL approaches achieved remarkable successes in many robotic scenarios (including mobile robotics,…

We learn end-to-end point-to-point and path-following navigation behaviors that avoid moving obstacles. These policies receive noisy lidar observations and output robot linear and angular velocities. The policies are trained in small,…

We propose a deep reinforcement learning (DRL) methodology for the tracking, obstacle avoidance, and formation control of nonholonomic robots. By separating vision-based control into a perception module and a controller module, we can train…

Navigation of mobile robots within crowded environments is an essential task in various use cases, such as delivery, health care, or logistics. Deep Reinforcement Learning (DRL) emerged as an alternative method to replace overly…

The capability of UAVs for efficient autonomous navigation and obstacle avoidance in complex and unknown environments is critical for applications in agricultural irrigation, disaster relief and logistics. In this paper, we propose the DPRL…

Fixed-wing Unmanned Aerial Vehicles (UAVs) are one of the most commonly used platforms for the burgeoning Low-altitude Economy (LAE) and Urban Air Mobility (UAM), due to their long endurance and high-speed capabilities. Classical obstacle…

Lane change decision-making for autonomous vehicles is a complex but high-reward behavior. In this paper, we propose a hybrid input based deep reinforcement learning (DRL) algorithm, which realizes abstract lane change decisions and lane…

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…

Deep reinforcement learning (DRL) has exhibited considerable promise in the training of control agents for mapless robot navigation. However, DRL-trained agents are limited to the specific robot dimensions used during training, hindering…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

Deep Reinforcement learning (DRL) is used to enable autonomous navigation in unknown environments. Most research assume perfect sensor data, but real-world environments may contain natural and artificial sensor noise and denial. Here, we…

We present a novel method for reliable robot navigation in uneven outdoor terrains. Our approach employs a novel fully-trained Deep Reinforcement Learning (DRL) network that uses elevation maps of the environment, robot pose, and goal as…

Model-free continuous control for robot navigation tasks using Deep Reinforcement Learning (DRL) that relies on noisy policies for exploration is sensitive to the density of rewards. In practice, robots are usually deployed in cluttered…

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…

Variable speed limit (VSL) control is an established yet challenging problem to improve freeway traffic mobility and alleviate bottlenecks by customizing speed limits at proper locations based on traffic conditions. Recent advances in deep…

This paper introduces a novel approach for robot navigation in challenging dynamic environments. The proposed method builds upon the concept of Velocity Obstacles (VO) that was later extended to Nonlinear Velocity Obstacles (NLVO) to…