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

This paper focuses on the continuous control of the unmanned aerial vehicle (UAV) based on a deep reinforcement learning method for a large-scale 3D complex environment. The purpose is to make the UAV reach any target point from a certain…

Deep Reinforcement Learning (DRL) is a promising approach for teaching robots new behaviour. However, one of its main limitations is the need for carefully hand-coded reward signals by an expert. We argue that it is crucial to automate the…

How can a robot safely navigate around people with complex motion patterns? Deep Reinforcement Learning (DRL) in simulation holds some promise, but much prior work relies on simulators that fail to capture the nuances of real human motion.…

We present a novel algorithm (DeepMNavigate) for global multi-agent navigation in dense scenarios using deep reinforcement learning (DRL). Our approach uses local and global information for each robot from motion information maps. We use a…

In domains such as finance, healthcare, and robotics, managing worst-case scenarios is critical, as failure to do so can lead to catastrophic outcomes. Distributional Reinforcement Learning (DRL) provides a natural framework to incorporate…

Dynamic obstacle avoidance (DOA) is a fundamental challenge for any autonomous vehicle, independent of whether it operates in sea, air, or land. This paper proposes a two-step architecture for handling DOA tasks by combining supervised and…

End-to-end deep reinforcement learning (DRL) for quadrotor control promises many benefits -- easy deployment, task generalization and real-time execution capability. Prior end-to-end DRL-based methods have showcased the ability to deploy…

Human decision-making errors cause a majority of globally reported marine accidents. As a result, automation in the marine industry has been gaining more attention in recent years. Obstacle avoidance becomes very challenging for an…

In this paper, we propose a map-based end-to-end DRL approach for three-dimensional (3D) obstacle avoidance in a partially observed environment, which is applied to achieve autonomous navigation for an indoor mobile robot using a depth…

Modern navigation algorithms based on deep reinforcement learning (RL) show promising efficiency and robustness. However, most deep RL algorithms operate in a risk-neutral manner, making no special attempt to shield users from relatively…

In this paper, we present an autonomous navigation system for goal-driven exploration of unknown environments through deep reinforcement learning (DRL). Points of interest (POI) for possible navigation directions are obtained from the…

(This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible.) To improve the efficiency of deep reinforcement learning (DRL)-based…

This study presents a novel methodology incorporating safety constraints into a robotic simulation during the training of deep reinforcement learning (DRL). The framework integrates specific parts of the safety requirements, such as…

Nowadays, Deep Learning (DL) methods often overcome the limitations of traditional signal processing approaches. Nevertheless, DL methods are barely applied in real-life applications. This is mainly due to limited robustness and…

Motion planning under uncertainty is one of the main challenges in developing autonomous driving vehicles. In this work, we focus on the uncertainty in sensing and perception, resulted from a limited field of view, occlusions, and sensing…

The increasing number of unmanned aerial vehicles (UAVs) in urban environments requires a strategy to minimize their environmental impact, both in terms of energy efficiency and noise reduction. In order to reduce these concerns, novel…

Real-time path planning in constrained environments remains a fundamental challenge for autonomous systems. Traditional classical planners, while effective under perfect perception assumptions, are often sensitive to real-world perception…

A variety of autonomous navigation algorithms exist that allow robots to move around in a safe and fast manner. However, many of these algorithms require parameter re-tuning when facing new environments. In this paper, we propose PTDRL, a…

The learning inefficiency of reinforcement learning (RL) from scratch hinders its practical application towards continuous robotic tracking control, especially for high-dimensional robots. This work proposes a data-informed residual…

Self-navigation, referred as the capability of automatically reaching the goal while avoiding collisions with obstacles, is a fundamental skill required for mobile robots. Recently, deep reinforcement learning (DRL) has shown great…